SU1613855A1 - Ultrasonic transducer of parameters of motion - Google Patents

Abstract

The invention relates to a measurement technique, namely, information converters, and can be used in robotic systems and complexes for measuring object motion parameters. The aim of the invention is to expand the scope of use by generating more complete measurement information about the motion parameters of the object being monitored. The write-read element excites waves that travel in both directions along the conduit and receives the wave reflected from the free end of the conduit. A read element, kinematically connected to the control object, receives two waves — directly from the record-read element and reflected from the free end of the sound guide. The transducer measures the propagation times of the waves and compares these times, as a result of which information is generated about the magnitude, velocity, and direction of movement of the object. 1 hp f-ly, 4 ill.

Description

 The invention relates to a measurement technique, namely, to information converters, and can be used in robotic systems and complexes for measuring and controlling the motion parameters of an object.

The purpose of the invention is to expand the field of use by forming a more complete measurement information about the motion parameters of the object being monitored.

FIG. 1 shows the structural scheme of the measuring converter; in fig. 2 is a block diagram of a result calculation block; in fig. 3 shows a code generator;

Fig 4 - basic time diagrams of the device |

The linear displacement transducer contains a magnetostrictive linear displacement transducer (MPP), consisting of a string (tape) rectilinear conductor I of 1 of a magnetostrictive material with a free end, an acoustic absorber 2 with a tension stabilizer 3, a fixed element. 4 write-reads, a movable read element 5, two movement stops b, a write amplifier 7 and two signal drivers formers 8 and 9, a control trigger 10, a single vibrator 11, a rea calculation unit 12

CXD 00 SP

ate

“D

20

25

31613855

Ultat (BVR), control bus 13, request 1U Inu, 15 startup Ainu, first result tires 16, second result tires 17, third tires

18 results, 19 speed tires and synchronization bus 20

At a reference distance from the free end of the chute 1 of the MPP, the recording-reading element 4 is fixedly fixed, iQ. Its second end is enclosed in an acoustic absorber 2 and is kinematically connected to the tension regulator 3. The read element 5 is fixed on the sound duct 1 with the possibility of displacement: nip: between displacement limiters 6 installed near the acoustic absorber 2 and the record-read element 4, and kinematically connected to the object of controlled movement. The output of the record-read element 4 is connected , through the first amplifier-shaper 8 to one signal input of VVR 12, the other signal input of which is connected via the second amplifier-shaper 9 to the output of read element 5, and the blocking inputs are connected to one output m flip-flop 10 and the control input of monostable multivibrator 11 through the output of the last amplifier 7 is connected to the write input of the read element 4 Record-. Another output of the trigger 10 control is connected to the bus 14 request, sync - to the bus 15 for-. start, and the information input is connected to the control bus 13 and is connected to the control input of the booster terminal 12. The synchronous input of the latter is connected to zero

The trigger inputs 10, second, and third tires 16–18 are connected to the first, second, and BVR 12 outputs, its fourth presses are connected to 19 speed signs, and the fifth output is connected to the synchronization bus.

The result calculation unit 12 is made on the basis of two logical elements AND 21 and 22, a digital code generator 23, seven registers 24-30. A parallel shift, a subtractor -31, a divider 32, a comparator 3J codes, and a delay circuit 34.

thirty

.

35

40

45

The code generator 23 is made in the form of the first D-flip-flop 35, the reference .generator 3 generator second

55

At the same time, the first amplifier-shaper 8o is excited. On its output a rectangular video impulse of a link is formed (Fig. 4c), which passes to the first signal input of the BVR 12 and through its open logic element I 21 and starts the digital code generator 23 (Fig. 2b)

At the n-bit bottom of the generator output 23 codes from this moment begins

“P-°„ 3 (: ™ Ha ° 7 ”, GORNiGovyv. EKV“. Code, off-discharge D-Grigger (register frequency “, which pJJJd -

spd adder s

0

25

s

thirty

The converter works as follows.

in a way.

Initially, the device is reset. When applying the digital signal control bus 13, the resolution (FIG. 4a) is switched to the operation mode. A digital signal is sent via bus 14 (Fig. 4k), in response to which, after a reaction time tp, the user sets a digital pulse signal, Run (Fig. 46).

This signal is used to switch the control trigger 10 to a single state (Fig. 4k), which leads to the removal of a signal. A query on the query bus 14, the start of the one-shot 11 (Fig. 4c) and the unlocking of the BBR 12o signal inputs.

The single-oscillator 11 generates a rectangular video pulse of recording calibrated in terms of duration modulated by a carrier frequency ° which excites recording amplifier 7. . 1ShPo Recording Amplifier 7 eliminates the modulated current write pulse that passes through the medium of the combined write-read element 4 and excites in the sound tube 1 the longitudinal magnetoelastic wave Sukh propagating in both directions with phase velocity V:

35 G, G, (4V-V 1,) + (r, (TvV - “- io), (i)

where t

,

45

50

55

the propagation time of the first and second waves;

1 is the distance from the recording-read element 4 to the free end of the acoustic duct; .

Ij is the distance from the element a of the record-coupling to the movable element 5 of the reading.

At the same time, the first amplifier-shaper 8o is excited. On its output a rectangular video impulse of a link is formed (Fig. 4c), which passes to the first signal input of the BVR 12 and through its open logic element I 21 and starts the digital code generator 23 (Fig. 2b)

At the n-bit bottom of the generator output 23 codes from this moment begins

„, GoRNiGovov. EKV“. code ,, sne- frequency ", which defines the sampling interval of time intervals of displacements

The generated code Ny forms the reference digital code scale and arrives at the information inputs of the registers 24 and 25 of the parallel shift. The code generator 23 may be executed according to the scheme shown in FIG. 3. The D-flip-flop 35 by external signals controls the operation of the reference generator 36 of the reference frequency f and the register made on the n D-flip-flops 37.

The reference generator controls the sweep of the interpolation code link on the n-bit D-flip-flop register 37 and the adder 38 included in the ring. In this case, the adder 38 can be executed on programmable logic elements, which allows to execute the code generator 23 as a function generator, expanding the capabilities of the device.

Probe magnetoelastic wave 0. spreading to the right (in fig. 1) along the sound line 1 of the MPP, at some point in time reaches its free end, forming the full reflection boundary, is reflected in the Inverted, Gi) and, spreading towards the record-read element 4, reaches it through total time

2 k

V

(2)

Passing through the conduit 1 under element 4, the probing magnetoelastic wave - G "induces at its output a modulated pulse, which is converted by the first shaper amplifier 8 into a rectangular read video pulse (Fig. 4c), and, pass to the first BBR 12 signal input, writes to its register 24 is code N, which at time (2) is set at the n-bit output of the generator 23 codes. The STOT code is then fed to the inputs of the Digital Comparator 33 and the splitter 32 (FIG. 2)

Magnetoelastic waves (J and (jj, propagating along the sound conduit 1 in the direction of the moving object 5 of the moving element 5 that is moving with the desired speed Vy, reach it in time, respectively

T v + v.

(3)

161385S.

iiiiii.

V + vy

(four)

Passing through the conduit 1 under element 5 of the readout, the magnetoelastic waves G, .and - (jg induce at its output modulated voltage pulses, which are converted by the second shaping amplifier 9 into straight-angle video signals of cross-section (Fig. 4d) and pass to the second signal input BFR 12. These readout signals pass through its open logic element 22 and make 5 write to the registers 25 and 26 of the current codes N and N3 T -f, which are set at the outputs of the generator 23 codes at time points (3) and (4), as in register 25

0

code is written in the register

26 - code N;. Then the code Nj goes to one input of the subtractor 31 and divides (L 32 and the inputs of the buffer register 27

(Fig. 2).

Pa figs. 4d, d, e shows the reference signals, respectively, with Vv O (Fig. 4d), + Vy (figo 4e) and -V (Fig. 4e), formed at the output of the signal amplifier-former 9. 0 If the speed of the object is different from zero (YX # 0), then we observe some temporary equilibrium + LT of the reference interval T ,, the sign of which is determined by the direction of movement of the moving element 5 of the PN reading. So, if the directions of propagation of the longitudinal magnetoelastic wave and the displacement of element 5 are opposite, then the sum of the phase velocity (V + Vy) and the sign of the increment is equal to -uTi. Otherwise, when the total phase velocity is (V-Vj; ), the sign of increment is equal to the reciprocal of value. + & T. 5 The sign of the moving speed N of an object is calculated by a digital comparator: TOR 33 BVR 12 according to the following j expression:

01 if N, (Vy);

10 if N, (-V,)} (5)

0

"Zi

00 if N, -N4 O (Vj (0),

where N4 Nj is the code that is calculated by the subtractor 31.

The generated codes, N4, pass to the inputs of the buffer n-bit register 29 and two-bit register 30,

Thus, the generated code Ng at the outputs of the register 26 carries information directly to the transformation of the current position 1 of the controlled object with respect to the magnetostriction scale of reference of the PPM, which has known drawbacks. At the outputs of the divider 32, the code for the desired movement 1, of the object of the ratiometric value 5, which passes to the input of the n-th buffer register -28, is formed.

 ten

This is done to the next conversion cycle, which is performed through the time tpo. When removed via the signal control bus 13. Discretion (Fig. 4a), the device can not be triggered by a signal.

High noise immunity of the device is achieved through the use of modulation of the probing MPO magneto-elastic signal and the use of a tension stabilizer 3, ensuring the constancy in time of the wave acoustic resistance

Spread further along the sound projection of the magnetostriction path, the transmission of 1 PCs, magnetoelastic waves G, and ichi from the maximum possible -G B condition, some time reach 1-1 acoustic absorber 2 and dissipate its energy on it. This prevents the formation of B20.

magnetostrictive transmission path (sound line) of optical (reflected). formation to waves - Oh, and (Wo. "At the next moment, & C as. where cr, is the propagation time of signals through the circuits of elements 25 and 32, a digital sync pulse is set at the first output of the delay circuit 34 ( Fig. 4g), on which the recording of the computed N, N, N4, and N34B registers 27-30 and the resetting of the trigger state (zero) of the control trigger 10 is made

(Fig. 4i).

From the outputs of registers 27-30, the required codes, respectively, Position Code 1, Position Code 2, Speed Code and Speed Sign, pass to the first, second and third n-bit tires.

 (Figs 1 and 2).

Putting the control trigger 10 into the zero state by a signal The cycle leads to blocking of the BVR signal inputs, - protecting against the passage of spurious pulse signals outside the conversion cycle, and forming,

 bus 14 request signal

(Fig. 4k). l l l.

B next moment t / - ЗО where 27th - Р signal propagation through elements 27-30, at the other output of delay circuit 34 a digital pulse signal is set which passes to the terminal / and synchronizes and generates a synchronization signal (Fig. 4h) „

This completes the complete conversion cycle and ends up with the device being prepared with g1 -3 V 4-JI vJ O-1P l XTic I lL i. .

signal / interference ratio. The presence of the MPP motion limiters increases its reliability due to the protection against possible mechanical destruction of the elements of the kinematic scheme at the extreme points of the transformation range.

Claims (1)

1. Ultrasonic measuring transducer of motion parameters containing a rectilinear acoustic circuit made of a magnetostrictive material with a free end, a stabilizer of tensile forces and an acoustic absorber located at the other end of the acoustic conductor, an oscillation transducer mounted fixedly on the acoustic conduit on the supporting stage from its free end, a concentrated reading element mounted on the working part of the sound duct and executed with the possibility of movement along the sound guide and kinema connected to the control object, a write amplifier and a read driver, connected to the outputs of an oscillation converter and a read element, a write pulse driver and a control trigger connected via a write pulse generator to the input of the write amplifier, characterized in that the purpose of extending the area of use due to the formation of more complete measurement information about the parameters of the movement of the object, it is equipped with a second Reader-Formation Enhancer and a block you counting the result of the first and second signal inputs to 35 40 45 0 This is done to the next conversion cycle, which is performed through the time tpo. When removed via the signal control bus 13. Discretion (Fig. 4a), the device can not be triggered by a signal. High noise immunity of the device is achieved through the use of modulation of the probing MPO magneto-elastic signal and the use of a tension stabilizer 3, ensuring the constancy in time of the wave acoustic resistance z. magnetostriction path of transmission from us. words and the maximum possible magnetostrictive transmission path from the words of the maximum possible Нг1 г1 -3 У 4-JI vJ О-1П л XTic I lL i. . signal / interference ratio. The presence of MPP motion limiters increases its reliability due to the protection from possible mechanical destruction of the elements of the kinematic scheme at the extreme points of the conversion range. ZO ZO 5 claims 1. Ultrasonic measuring transducer of motion parameters, containing a rectilinear sound guide from a magnetostrictive material with a free end, a stabilizer of tensile forces and an acoustic absorber located at the other end of the sound guide, an oscillation transducer fixedly mounted on the sound guide at a reference distance from it free end, concentrated readout element mounted on the working part of the Zvukoprovod and executed with the ability to move along the Zvukoprovod and Ki A connection to the control object, a write amplifier and a read driver are connected to the outputs of an oscillation converter and a read element, a write pulse driver and a control trigger connected through a write pulse driver to the input of the write amplifier, characterized in that use of the area due to the formation of a more complete measurement information about the parameters of the object, it is equipped with a second read Shaper amplifier and result calculation, first and second signal inputs 40 45 91 the first and second control inputs are combined and connected to the control trigger output, and the third control input is connected to the control trigger information input, the control trigger zeroing input is connected to the sync output of the result calculator, the output of the second read amplifier is connected to the output of an oscillation converter, which is configured as a write-read element.  2, the converter according to claim 1, characterized in that the result calculating unit contains the first and second elements AND, the code generator, the first, second, third, fourth, fifth, sixth and seventh registers, comparator, delay element, subtractor and divider, the first input of which is connected to the first input of the comparator and the input of the first register, the second input to the information input of the fourth register, the first input of the subtractor and the output of the third register, and the output to the information input of the fifth register, the information input of the third register 385510 pa is connected to the output of the second register and the second input of the subtractor, the output of which is connected to the information , the input of the sixth register and the second input of the crmparator, the output of which is connected to the information input of the seventh register, synchronous inputs of the fourth, fifth, sixth and seventh 10 registers are combined and connected., With the first input of the delay element, the input of which is connected to the sync switches of the second and third registers and the output of the second And element, the first 15 inputs of the first and second elements And are combined and connected to the first input of the code generator, the output of which is connected to the information inputs of the first and second registers, the sync input of the first register is connected to the second input of the code generator and the output of the And element, with the first inputs of the first and second elements And are respectively the first and 25 second control unit (by their inputs to the result calculator, the third input of the code generator — its third control, ui (it’s input, the second input of the first and second element - and its 30 first and second input inputs, and the output of the delay element its output output). From 8 From 9 21 J-U-I. From 15 From 13 L- / 5Fig. 2 FIG. five yy 22 12 I ll , K19 KGB Gearbox K10 (2) 24.25 L „Resolution 3anycf “A Uh “Cuf XJUOSHDU.,) / +5 K. „Request {p Xl jTL fl (f 5 ; l JLJL / / Ug i / Block 3 y / r i / g