RU2792706C1 - Compensation accelerometer - Google Patents

Abstract

FIELD: measuring technology.

SUBSTANCE: essence of the invention lies in additional introduction of analog and discrete negative feedbacks into the compensation accelerometer, wherein the analog feedback is introduced from the output of the angle sensor to one of the inputs of the magnetoelectric converter via an integrating amplifier, a phase detector and a nonlinear element with a saturation zone connected in series by information inputs, a differentiating link, and a discrete negative feedback is introduced from the output of the angle sensor to the input of the comparator via an integrating amplifier, a phase detector and a nonlinear element with a saturation zone, a threshold element with an ambiguity zone, an integrator connected in series via information inputs, one of the outputs of the auxiliary frequency generator is connected to the input of the threshold element with an ambiguity zone and the output of the reverse binary counter is the digital output of the compensation accelerometer.

EFFECT: broadening the bandwidth and improving the measurement accuracy.

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Description

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

An accelerometer is known (AS No. 742801, published in BI No. 23, 1980) containing a sensitive element, an angle sensor, an integrating feedback amplifier, a moment sensor, an additional integrating amplifier, an electronic key, a threshold element. The first output of the angle sensor is connected, via an integrating feedback amplifier, to the moment 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 hard negative feedback is limited by the system stability condition. The accuracy of the accelerometer depends on the integrating analog amplifiers, the threshold element and the electronic key included in the feedback. The main error of the device for measuring accelerations is related to the finiteness of the charging time of the capacitor of the integrating amplifier. This error leads to the aperture error inherent in such a scheme for sampling and information processing.

(где T₁<T₂ постоянные времени) и один из входов сумматора соединен с выходом интегро-дифференцирующего звена через звено запаздывания с передаточной функцией

(где K и T - 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 T₁>T₂ - постоянные времени звена запаздывания), и выход реверсивного двоичного счетчика является цифровым выходом компенсационного акселерометра.The closest in technical solution is a compensation accelerometer for measuring accelerations (RF patent No. 2513667 G01P 15/13, published in BI No. 11, 04/20/2014), containing a sensitive element, the angular position of which is fixed by an angle sensor, an amplifier, the input of which is connected to angle sensor output, phase detector of negative feedback, integrating negative feedback from the output of the comparator to the input of the torque sensor through a comparator, a level converter, two standby synchronous generators, a reversible binary counter, a comparison circuit, a trigger, an electronic key, an input which is connected to the output of the current generator, 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 of the auxiliary frequency generator, the reference voltage generator, the outputs of which are connected to the inputs of the angle sensor and the negative feedback phase detector, additional inputs compa generator, waiting for synchronous generators, a reversible binary counter are connected to an auxiliary frequency generator, local negative feedback is introduced from the output of the amplifier to the input of the negative feedback phase detector through an adder, a threshold element, an integro-differentiating link with a transfer function connected in series by information inputs

(where T ₁ <T ₂ are 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 gain 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 - the time constants of the delay link), and the output of the reverse binary counter is the digital output of the compensation accelerometer.

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

The technical objective 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 fixed by an angle sensor, a reference voltage generator, one of the outputs of which is connected to the angle sensor, and the other output is connected to the input of the phase detector, an integrating amplifier, a negative feedback, a comparator, the output of which is connected to the input of the magnetoelectric converter through a level converter connected in series via information inputs, two waiting synchronous generators, a reversible binary counter, a comparison circuit, a trigger, an electronic key, one of the inputs of which is connected to the output of the current generator, and the output is connected to the input of the magnetoelectric converter summing binary counter, the output of which is connected to one of the inputs of the comparison circuit, and the input is connected to the output of the auxiliary frequency generator, additional inputs of the comparator, waiting for synchronous generators, reversible binary counter are connected to the generator auxiliary frequency, analog and discrete negative feedbacks are introduced, and the analog one is introduced from the output of the angle sensor to one of the inputs of the magnetoelectric converter through an integrating amplifier, a phase detector, a nonlinear element with a saturation zone, a differentiating link, and a discrete negative feedback is introduced from the output of the angle sensor to the input of the comparator through an integrating amplifier, a phase detector, a nonlinear element with a saturation zone, a threshold element with an ambiguity zone, an integrator connected in series via information inputs, one of the outputs of the auxiliary frequency generator is connected to the input of a threshold element with an ambiguity zone, and the output reversible binary counter is the digital output of the compensation accelerometer.

The introduction of analog and discrete negative feedbacks into the compensation accelerometer made it possible to create a self-oscillating system with an extended bandwidth and provide astatism in deviation. The introduction of a differentiating link into the analog negative feedback ensures the stability and stabilization of the parameters of the compensation accelerometer.

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

The compensation accelerometer contains a sensitive element 1, the angular deviation of which is fixed 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. The 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 input of the non-linear element with saturation zone 6. One of the outputs of the non-linear element with the saturation zone 6 is connected to the input of the differentiating link 7. The output of the differentiating link 7 is connected to one of the inputs of the magnetoelectric transducer 8. The other output of the non-linear element with saturation zone 6 is connected to the input of the threshold element with an ambiguity zone 9, the output of which is connected to the input of the integrator 10. The output of the integrator 10 is connected to the input of the comparator 11, the output of which is connected to the input of the level converter 12. The outputs of the level converter 12 are connected to the inputs of two waiting synchronous 13 and 14. The outputs of the waiting synchronous generators 13 and 14 are connected to the inputs of the reversible binary counter 15. The output of the reversible binary counter 15 is connected to the input of the comparison circuit 16. The other input of the comparison circuit 16 is connected to the output of the summing binary counter 17. The output of the comparison circuit 16 connected to the input of the trigger 18. The output of the trigger 18 is connected to the input of the electronic key 19, the other input of which is connected to the output of the current generator 20. The output of the electronic key 19 is connected to one of the inputs of the magnetoelectric converter 8. The magnetoelectric converter 8 is connected to the sensitive element 1. Additional inputs a threshold element with an ambiguity zone 9, a comparator 11, waiting synchronous generators 13 and 14, a reversible binary counter 15 and a summing binary counter 17 are connected to the outputs of the auxiliary frequency generator 21.

The internal content of a threshold element with an ambiguity zone, a nonlinear element with a saturation zone, a comparator, waiting synchronous generators, a reversible binary counter, a comparison circuit, a summing binary counter, a level converter are described in the books: P. Horowitz, W. Hill. The art of circuitry. M.: Mir, vol. 1-3, 1993, N.T. Kuzovkov Dynamics of automatic control systems. M.: Mashinostroenie, 1968, S. - 428.

The compensation accelerometer works as follows. Under the action of acceleration W/g, the deviation of the sensitive element 1 is fixed by the angle sensor 2, the 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. The other 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 deviation of the sensitive element 1, is fed to the input of the non-linear element with the saturation zone 6. The signal from the output of the non-linear element with the saturation zone 6 is supplied as to the input of the differentiating link 7, and to the input of the threshold element with an ambiguity zone 9. The signal, in the form of a level, from the output of the threshold element with an ambiguity zone 9 is fed to the input of the integrator 10. The voltage at the output of the threshold element with an ambiguity zone 9 is fixed with the arrival of each pulse from the auxiliary frequency generator 21 and enters the input integrator 10. At the output of the integrator 10, the signal, in the form of a step voltage, is fed to one of the inputs of the comparator 11, in which the signal from the output of the integrator 10 is compared with the signal extracted from the stable frequency and amplitude signal of the auxiliary frequency generator 21. If the signal from the output integrator 10 is greater than the triangular voltage from the output of the auxiliary frequency generator 21, then the output of the comparator 11 will be a high logic level, if less, then the output of the comparator 11 is a low logic level. The level of the signal from the output of the comparator 11 depends on the phase of the deviation of the sensitive element 1. The signal from the output of the comparator 11, in the form of a level, is fed to the input of the level converter 12, and then to the inputs of two waiting synchronous generators 13 and 14, which, using the auxiliary generator frequency 21, give out signals in the form of a pulse, for each impact of the input signal (from the output of the level converter 12) equal to "1". The reversible binary counter 15 counts single pulses coming from the output of the waiting synchronous generator 13 and subtracts the pulses coming from the output of the waiting synchronous generator 14. The reversible binary counter 15 represents positive information in the direct code, and negative information in the additional code, and the additional code is converted comparison circuit 16 and a summing binary counter 17. After a logical comparison of the signals in the comparison circuit 16, the signal is fed to the input of the trigger 18. The signal from the output of the trigger 18, in the form of a level, is fed to the input of the electronic key 19. The stabilization of the parameters of the electronic key 19 is carried out by the current generator 20. The number of pulses from the output of the electronic key 19 is proportional to the binary code input to the comparison circuit 16. The output of the electronic key 19 is connected to the input of the magnetoelectric transducer 8, which compensates for the angular deviation of the sensing element 1 caused by acceleration. The output of the reversible binary counter 15 is the output of the digital code of the compensation accelerometer.

The introduction of a threshold element with an ambiguity zone and an integrator into 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 a differentiating link in the analog negative feedback allows to ensure the stability and stabilization of the parameters of the compensation accelerometer.

Claims (1)

Compensation accelerometer containing a sensitive element, the deviation of which is fixed by an angle sensor, a reference voltage generator, one of the outputs of which is connected to the angle sensor, and the other output is connected to the input of the phase detector, an integrating amplifier, negative feedback, a comparator, the output of which is connected to the input of the magnetoelectric converter through a level converter connected in series via information inputs, two standby synchronous generators, a reversible binary counter, a comparison circuit, a trigger, an electronic key, one of the inputs of which is connected to the output of the current generator, and the output is connected to the input of the magnetoelectric converter, summing binary counter, output which is connected to one of the inputs of the comparison circuit, and the input is connected to the output of the auxiliary frequency generator, additional inputs of the comparator, waiting for synchronous generators, reversible binary counter are connected to the auxiliary frequency generator, from characterized by the fact that analog and discrete negative feedbacks are introduced into it, moreover, the analog one is introduced from the output of the angle sensor to one of the inputs of the magnetoelectric converter through an integrating amplifier, a phase detector, a nonlinear element with a saturation zone, a differentiating link connected in series over the information inputs, and a discrete negative feedback is introduced from the output of the angle sensor to the input of the comparator through an integrating amplifier, a phase detector, a nonlinear element with a saturation zone, a threshold element with an ambiguity zone, an integrator connected in series via information inputs, one of the outputs of the auxiliary frequency generator is connected to the input of the threshold element with a zone ambiguity and the output of the up/down binary counter is the digital output of the compensation accelerometer.

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