RU2738877C1 - Compensatory accelerometer - Google Patents

Abstract

FIELD: measuring equipment.

SUBSTANCE: invention relates to measurement equipment and is intended for use in systems of stabilization, navigation, guidance and medicine. Essence of the invention is that the compensation accelerometer further includes, from the angle sensor output to one of the comparator inputs, the integrating amplifier connected in series by the information inputs, a phase detector, a threshold element with an ambiguity region, an integrator, first and second adders, a sampler, one of the inputs of which is connected to one of the outputs of the phase detector, and output is connected to one of inputs of first adder, besides, one of outputs of reference voltage generator is connected to one of inputs of sampler, and one of the inputs of the second adder is connected to the output of the sawtooth voltage generator, the output of the reversible binary counter is the digital output of the compensation accelerometer.

EFFECT: wider pass band and higher measurement accuracy.

1 cl, 1 dwg

Description

The invention relates to measuring technology and is intended for use in stabilization systems, navigation, guidance and medicine.

Known accelerometer (AS No. 742801, publ. In bull. Fig. No. 23, 1980), containing a sensitive element, an angle sensor, an integrating feedback amplifier, a torque sensor, an additional integrating amplifier, an electronic key, a threshold element. The first output of the angle sensor is connected, through an integrating feedback amplifier, to the torque sensor, and the second output of the angle sensor, through a threshold element and an additional integrating amplifier, to the control input of the electronic key.

The disadvantage of the accelerometer is the low measurement accuracy, since the choice of the gain with a hard negative feedback is limited by the system stability condition. Accelerometer accuracy depends on the integrating analog amplifiers, threshold element and electronic switch included in the feedback. The main error of the device for measuring accelerations is associated with the finite charging time of the capacitor of the integrating amplifier. This error leads to the aperture error inherent in such a sampling and information processing scheme.

(где Т₁ < Т₂, постоянные времени) и один из входов сумматора соединен с выходом интегро-дифференцирующего звена через звено запаздывания с передаточной функцией

(где K и Т - коэффициент передачи и постоянная времени звена запаздывания) и выход фазового детектора отрицательной обратной связи соединен с входом компаратором через дифференцирующее звено с передаточной функцией

(где Т₁ > Т₂, постоянные времени звена запаздывания), и выход реверсивного двоичного счетчика является цифровым выходом компенсационного акселерометра.The closest technical solution is a compensation accelerometer for measuring accelerations (RF patent No. 2513667 C1 G01P 15/13, publ. In bul. No. 11, 04/20/2014), containing a sensitive element, the angular position of which is fixed by an angle sensor, an amplifier whose input connected to the output of the angle sensor, a negative feedback phase detector integrating negative feedback from the comparator output to the input of the torque sensor through a comparator, a level converter, a pair of waiting synchronous generators, a reversible binary counter, a comparison circuit, a trigger, an electronic switch , the input of which is connected to the output of the current generator, the summing binary counter, the output of which is connected to one of the inputs of the comparison circuit, and the input, to the output of the auxiliary frequency generator, is the reference voltage generator, the outputs of which are connected to the inputs of the angle sensor and the negative feedback phase detector, additional entrance s of the comparator, waiting for synchronous generators, reversible binary counter are connected to the auxiliary frequency generator, local negative feedback is introduced from the amplifier output to the input of the negative feedback phase detector through the adder, threshold element, integro-differentiating link with a transfer function, connected in series at the information inputs

(where T ₁ <T ₂ , time constants) and one of the inputs of the adder is connected to the output of the integro-differentiating link through a delay link with a transfer function

(where K and T are the transfer coefficient and time constant of the delay link) and the output of the negative feedback phase detector is connected to the input by a comparator through a differentiating link with a transfer function

(where T ₁ > T ₂ , time constants of the lag link), and the output of the reverse binary counter is the digital output of the compensation accelerometer.

The disadvantage of the compensation accelerometer is its low bandwidth and low measurement accuracy.

The technical problem of the present invention is to expand the bandwidth and improve the measurement accuracy.

This is achieved by the fact that in a compensation accelerometer containing a sensitive element, the deviation of which is recorded by an angle sensor, a reference voltage generator, one of the inputs of which is connected to an angle sensor, an integrator, negative feedback, the output of the comparator is connected to the input of the torque sensor through series-connected information inputs a level converter, two waiting synchronous generators, a reversible binary counter, a comparison circuit, a trigger, an electronic switch, one of the inputs of which is connected to the output of the current generator, and the output to the input of the torque sensor, summing a binary counter, the output of which is connected to one of the inputs of the circuit comparison, and the input, with the output of the auxiliary frequency generator, the additional inputs of the comparator, waiting for synchronous generators, the reversible binary counter are connected to the auxiliary frequency generator, while it is additionally introduced from the angle sensor output to one of the comparator inputs in series integrated amplifier, phase detector, threshold element with ambiguity zone, integrator, first and second adders, sampler, one of the inputs of which is connected to one of the outputs of the phase detector, and the output is connected to one of the inputs of the first adder, one of the outputs of the reference voltage generator is connected to one of the inputs of the sampler, and one of the inputs of the second adder is connected to the output of the sawtooth voltage generator, the output of the reversible binary counter is the digital output of the compensation accelerometer.

The introduction of a negative feedback containing a phase detector, a threshold element with an ambiguity zone, a sampler, adders into the compensation accelerometer made it possible to increase the measurement accuracy, create a self-oscillating system with an expanded bandwidth and with deviation astatism. The introduction of an integrator into negative feedback provides stability and stabilization of the parameters of the compensating accelerometer.

FIG. the functional diagram of the compensation accelerometer is shown.

The compensation accelerometer contains a sensitive element 1, the angular deviation of which is recorded by the angle sensor 2. The output of the angle sensor 2 is connected to the input of the integrating amplifier 3, the output of which is connected to the input of the phase detector 4. Additional inputs of the angle sensor 2 and the phase detector 4 are connected to the output of the reference voltage generator 5. The output of the phase detector 4 is connected to the inputs of the threshold element with the ambiguity zone 6 and the sampler 7. The output of the threshold element with the ambiguity zone 6 is connected to the input of the integrator 8. The inputs of the first adder 9 are connected to the outputs of the integrator 8 and the sampler 7. The output of the first adder 9 is connected with one of the inputs of the second adder 10, the other input of which is connected to the output of the sawtooth voltage generator P. The output of the second adder 10 is connected to the input of the comparator 12, the output of which is connected to the input of the level converter 13, the output of which is connected to the inputs of two waiting synchronous generators 14 and 15 . Exits waiting synchronous generators 14 and 15 are connected to the inputs of the reversible binary counter 16. The output of the reversible binary counter 16 is connected to the input of the comparison circuit 17. Another input of the comparison circuit 17 is connected to the output of the summing binary counter 18. The output of the comparison circuit 17 is connected to the input of the trigger 19. The output of the trigger 19 is connected to the input of the electronic key 20, the other input of which is connected to the output of the current generator 21. The output of the electronic key 20 is connected to the input of the torque sensor 22. The torque sensor 22 is connected to the sensitive element 1. Additional inputs of the digitizer 7, the comparator 12, and the waiting synchronous generators 14 and 15, a reversing binary counter 16 and a totalizing binary counter 18 are connected to the outputs of the auxiliary frequency generator 23.

The internal content of a threshold element with a zone of ambiguity, a sampler, a comparator, waiting synchronous generators, a reversing binary counter, a comparison circuit, a summing binary counter, a level converter, an adder and an integrator are described in the books: P. Horowitz, W. Hill. The art of circuitry. M .: Mir, t. 1-3, 1993, N.T. Kuzovkov. Dynamics of automatic control systems. M: Mechanical Engineering, 1968, p. - 428.

The compensation accelerometer works as follows. Under the action of acceleration W / g, the deflection of the sensitive element 1 is recorded by the angle sensor 2, the excitation windings of which are connected to one of the outputs of the reference voltage generator 5. The signal from the angle sensor 2, after amplification by the integrating amplifier 3, is fed to one of the inputs of the phase detector 4. Another the input of the phase detector 4 is connected to the output of the reference voltage generator 5. The voltage from the output of the phase detector 4, in accordance with the phase of the deflection of the sensitive element 1, arrives at both the input of the threshold element with the ambiguity zone 6 and the input of the sampler 7. The signal, in the form of a level, from the output of the threshold element with a zone of non-purposefulness 6, after integration by the integrator 8 is fed to one of the inputs of the first adder 9. The signal from the output of the phase detector 4 in the form of a voltage is fed to one of the inputs of the sampler 7, to the other input of which the control signal is supplied to in the form of pulses from the output of the auxiliary frequency generator 23. Sampler 7 fix the value of the analog signal from the phase detector 4 for the conversion time is set. The voltage at the output of the sampler 7 is fixed with the arrival of each pulse from the auxiliary frequency generator 23 and is fed to one of the inputs of the first adder 9. At the output of the first adder 9, the signal, in the form of a step voltage, is fed to one of the inputs of the second adder 10, to the second input of which a signal is supplied from the output of the sawtooth voltage generator 11. At the output of the second adder 10 we obtain a triangular signal, from the output of the first adder 9, shifted depending on the sign up or down. The signal from the output of the second adder 10 is fed to the first input of the comparator 12, in which the signal from the output of the second adder 10 is compared with the signal extracted from the signal of the auxiliary frequency 23 which is stable in frequency and amplitude. If the signal from the output of the second adder 10 is greater than the voltage from the generator output sawtooth voltage 11, then the output of the comparator 12 will be a high logic level, if less, then the output of the comparator 12 will have a low logic level. The signal level from the output of the comparator 12 depends on the phase of the deflection of the sensitive element 1. The signal from the output of the comparator 12, in the form of a level, is fed to the input of the level converter 13, and then to the inputs of the waiting synchronous generators 14 and 15, which, using the auxiliary frequency generator 23 , output signals in the form of a pulse for each action of the input signal (from the output of the level converter 13) equal to "1". The reversing binary counter 16 counts the single pulses coming from the output of the waiting synchronous generator 14 and subtracts the pulses coming from the output of the waiting synchronous generator 15. The reversing binary counter 16 represents positive information in the direct code, and negative information in the complementary code, and the additional code is converted by the circuit comparison 17 and the summing binary counter 18. After the logical comparison of the signals in the comparison circuit 17, the signal is fed to the input of the trigger 19, and then, in the form of a level, to the input of the electronic switch 20. The parameters of the electronic switch 20 are stabilized by the current generator 21. The number of pulses, from the output of the electronic switch 20, in proportion to the binary code entering the input of the comparison circuit 17. The output of the electronic switch 20 is connected to the current winding of the torque sensor 22, which compensates for the angular deviation of the sensitive element 1 caused by the action of acceleration. The output of the reverse binary counter 16 is the output of the digital code of the compensation accelerometer.

The introduction of a phase detector, a threshold element with an ambiguity zone, a sampler and adders into the negative feedback makes it possible to increase the measurement accuracy, to create a self-oscillating system with an extended bandwidth and deviation astatism. The introduction of an integrator makes it possible to ensure the stability and stabilization of the parameters of the compensation accelerometer.

Claims (1)

A compensation accelerometer containing a sensitive element, the deviation of which is recorded by an angle sensor, a reference voltage generator, one of the inputs of which is connected to the angle sensor, an integrator, negative feedback, the output of the comparator is connected to the input of the torque sensor through a level transducer connected in series via the information inputs, a pair of waiting synchronous generators, a reversible binary counter, a comparison circuit, a trigger, an electronic switch, one of the inputs of which is connected to the output of the current generator, and the output to the input of the torque sensor, a summing binary counter, the output of which is connected to one of the inputs of the comparison circuit, and the input to the output an auxiliary frequency generator, additional inputs of the comparator of waiting synchronous generators, a reversible binary counter are connected to the auxiliary frequency generator, characterized in that they are inserted into it from the output of the angle sensor to one of the comparator inputs, connected in series by the information input am an integrating amplifier, a phase detector, a threshold element with an ambiguity zone, an integrator, the first and second adders, a sampler, one of the inputs of which is connected to one of the outputs of the phase detector, and the output is connected to one of the inputs of the first adder, in addition, one of the outputs of the reference voltage generator is connected to one of the inputs of the sampler, and one of the inputs of the second adder is connected to the output of the sawtooth voltage generator, the output of the reversible binary counter is the digital output of the compensation accelerometer.

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