CN101586968A - High-resolution absolute type code device and operation method thereof - Google Patents
High-resolution absolute type code device and operation method thereof Download PDFInfo
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- CN101586968A CN101586968A CNA2008100981473A CN200810098147A CN101586968A CN 101586968 A CN101586968 A CN 101586968A CN A2008100981473 A CNA2008100981473 A CN A2008100981473A CN 200810098147 A CN200810098147 A CN 200810098147A CN 101586968 A CN101586968 A CN 101586968A
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Abstract
The invention relates to a high-resolution absolute type code device comprising an incremental coder, a controller, a comparator and a latch unit, wherein the incremental coder comprises a rotary code disc; the controller is electrically connected to the incremental coder for generating a control signal to the incremental coder; the comparator is electrically connected to the output end of the incremental coder for carrying out the output operation of the incremental coder so as to obtain a first pulse wave signal; and the latch unit is electrically connected to the output end of the comparator and the controller for carrying out the output operation of the comparator under the control signal of the controller so as to obtain a second pulse wave signal. When the controller is switched off, the control signal is driven as a discontinuous and conductive pulse wave signal, and a counting number generated by the second pulse wave signal is calculated to know angle information. The invention also relates to an operation method of the high-resolution absolute type code device; and when the power fails, the incremental coder is driven by the discontinuous and conductive control signal so as to calculate the absolute rotation angle of the incremental coder. In the invention, the absolute angle position can be known by the angle information and the position information of the incremental coder when the power fails.
Description
Technical field
The present invention particularly can provide high absolute type code device and method of operating thereof of resolving relevant for a kind of relevant for a kind of high parsing absolute type code device and method of operating thereof when cutting off the power supply.
Background technology
Known AC servomotor includes an optical encoder usually, and this optical encoder provides the angle of rotor to know motor rotary speed information, and this rotary speed information can feed back to the relevant speed control module with accurate control motor rotary speed.
Fig. 1 is the principle of work synoptic diagram of known AC servomotor control system, and the angle position of the rotor of motor 10 is detected by optical encoder 12 and handled to obtain angle (θ) information through signal processing unit 20.This angle information is delivered to controller 14 and is handled to obtain motor estimation rotating speed, speed control 30 receives this motor estimation rotating speed and speed command then, produce control motor rotary speed signal so as to control controller module 32 and igbt (IGBT) module 34, with the rotating speed of accurate control motor 10.
Clearer and more definite, in servo motor, the position transducer that locks on motor shaft is an optical encoder 12.The setting accuracy of servo motor depends on the resolution height of scrambler, and optical encoder (or claiming rotary encoder) 12 is divided into incremental encoder (incremental encoder) and absolute type encoder (absolute encoder) again.
Incremental encoder can only provide the information of current location with respect to last position, so after the power interruption, the information change of position must make zero again and just can confirm.The moment that re-powers again after outage, incremental encoder can't be known present mechanism position immediately.The position coder of absolute type at any time output shaft angle (position) absolute value and can not lose the information of position because of power interruption, therefore need not the program of making zero after outage powers on again, simplified the running of control system.
Referring to Fig. 2, essential structure for the known optical scrambler, the light that light source (for example laser diode (LD)) 260 sends arrives optical sensing subassembly (for example optical diode (PD)) 240 through rotation code-disc (disk) 200 and fixed secondary coded slice (mask) 220, the light intensity that optical sensing subassembly 240 receives has different Strength Changes along with rotation code-disc 200 positions difference, changes just can detect positional information by the signal on the optical sensing subassembly 240.
Referring to Fig. 3, be the synoptic diagram of the rotation code-disc 300 of known absolute type encoder, wherein this rotation code-disc 300 is the code-disc design of 6 (6bit) scale-of-two angle sign indicating numbers (Gray code).This rotation code-disc 300 comprises circular body 302 and most gratings 304.This grating comprises: in inner ring encoded tracks and occupy 1 first grating 304A of 1/2 circumference, in the inboard second circle encoded tracks and respectively occupy 2 second grating 304B of quarter turn, in inboard the 3rd circle encoded tracks and respectively occupy 4 the 3rd grating 304C of 1/8 circumference, in inboard the 4th circle encoded tracks and respectively occupy 8 the 4th grating 304D of 1/16 circumference, in inboard the 5th circle encoded tracks and respectively occupy 16 the 5th grating 304E of 1/32 circumference, and in the outermost encoded tracks and respectively occupy 32 the 6th grating 304F of 1/64 circumference.Therefore radiation (radial) direction along light source can produce different light and shade signals, and can reach 2 along circumferencial direction
6=64 resolution.Yet absolute type encoder framework as shown in Figure 3, a resolution position of every increase (bit), the rotation code-disc just must increase the encoded tracks of a circle.The high more encoded tracks number of resolution is just many more, and the volume of scrambler is just big more; At some the occasion of volume restrictions is arranged, the precision of absolute type encoder is restriction to some extent just.
Referring to Fig. 4 A, be rotation code-disc 400 synoptic diagram of incremental encoder, this rotation code-disc 400 comprises circular body 402 and most gratings.Those gratings comprise key light grid 404A, the first secondary grating 404B and the second secondary grating 404C.Referring to Fig. 4 B, be the synoptic diagram of secondary coded slice 420; This pair coded slice 420 comprises four row's grating 420A.
Referring to Fig. 4 C, be the synoptic diagram of optical sensing subassembly 440, this optical sensing subassembly 440 comprises main sensing cell 442A, 444A, 442B, the 444B (also promptly being denoted as the zone of A+, B+, A-, B-) corresponding to key light grid 404A.When 400 rotations of rotation code-disc, can produce the signal of similar string ripple at four main sensing cell 442A, 444A, 442B, the 444B (A+, B+, A-, B-) of optical sensing subassembly 440.The phase place of these four string ripples is respectively 0/90/180/270 degree, get 0/180 signal (A+, A-) do to be eliminated after the differential amplification sinusoidal signal A of common-mode noise (common mode noise), similarly get 90/270 signal (B+, B-) do to be eliminated after the differential amplification cosine signal B of common-mode noise, phase differential 90 degree of two signal A, B can be used for judging forward or reverse.
Incremental encoder only needs pulse wave signal A, B just can detect positional information basically, but because this positional information only provides the information with respect to last position, therefore also need on optical sensing subassembly 440, to be provided with in addition initial point signal sensing unit 446A, 446B (Z+, Z-), return earlier when powering on and just can obtain absolute location information after initial point makes zero in each system.The advantage of incremental encoder is only to need six signals, and to utilize two phase differential be that 90 ° sinusoidal signal and cosine signal carry out interpolation and just can obtain the positional information that height is separated the plate degree, and its shortcoming then is that each start powers on and all must carry out back initial point and move.This kind way is not only lost time and is not allowed go back to the application scenario of initial point program at some, and incremental encoder just can't meet demand and need set up the use absolute type encoder.
The absolute Location of the multi-turn when cutting off the power supply in order to solve, the counting of the number of turns has two kinds of practices in the correlation technique:
(1) mechanical gear formula
For the counting of the number of turns, each gear of gear set is engaged, is formed with the scrambler axle center and drives first gear, drives second gear (as shown in Figure 5) by first gear again;
Be carved with basic code on each gear, being made as a circle has n absolute fix, utilizes distribution type laser diode (LD) and optical diode (PD) to read, and laser diode (LD) is a light source herein, and optical diode (PD) is an optical sensing subassembly; Simultaneously, this gear set can rotate n * n * n circle in record coding device axle center;
(2) the individual pen absolute type matching battery counting number of turns
Under outage, give special chip with powered battery, special chip is only to trigger laser diode (LD) at interval, make optical diode (PD) produce the data-signal of the circle absolute fix of interval time, data signal data by this absolute fix, can judge whether forward or reverse one circle, and then the accumulative total number of turns.
When telegram in reply, the number of turns that the chip of scrambler can be read to have accumulated also reads simultaneously the present numerical value of angle sign indicating number on the rotation code-disc, does interpolation more at last and obtains meticulousr angle value.Yet when the reading angular sign indicating number, have the critical numerical value problem sometimes, perhaps dust causes with actual position some deviations being arranged on disc, and need some check points to revise these deviations this moment.Generally speaking, when just powering on, the numerical value that scrambler is passed back is some deviation also, and by behind some check points, it is correct that angle value just can become by the time.In other words, during telegram in reply, have to the angle of approach value at the beginning; After waiting to go to check point, correct angle value is arranged.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of high parsing absolute type code device and method of operating thereof, can when outage accurately and power saving ground calculate the anglec of rotation, start rapidly in order to the telegram in reply back.
For reaching above-mentioned purpose, the invention provides a kind of high parsing absolute type code device, utilize incremental encoder and battery and the time carry out absolute angle in outage and measure, comprise: incremental encoder comprises the rotation code-disc; Controller is electrically connected to this incremental encoder, and generation controls signal to this incremental encoder; Comparer is electrically connected to the output of this incremental encoder, so that this incremental encoder output is done operation and obtained first pulse wave signal; Latch lock unit is electrically connected to output and this controller of this comparer, under the control signal of this controller the output of this comparer is made latch operations and obtained second pulse wave signal; Wherein this controller is when outage, and this control signal of this controller drives is the pulse wave signal of interrupted conducting, and calculates by the counting of second pulse wave signal generation and learn absolute angle information.
The present invention also provides a kind of method of operating of high parsing absolute type code device, utilizes incremental encoder and battery and the time carries out absolute angle in outage and measure, and comprises:
At outage and this incremental encoder rotating speed when being lower than speed setting value, drive this incremental encoder with the control signal of interrupted conducting, to produce first pulse wave signal;
Utilize this first pulse wave signal of this control signal breech lock, to produce second pulse wave signal; And
Utilize this second pulse wave signal to calculate the absolute anglec of rotation of this incremental encoder.
As can be seen from the above technical solutions, high absolute type code device and the method for operating thereof of resolving of the present invention has following beneficial effect:
1, the pulse wave signal that utilizes the breech lock mode to reduce at interval becomes normal continuous pulse wave, make counter when outage accurately and power saving ground calculate the anglec of rotation;
When 2, cutting off the power supply, do not count the number of turns with the individual pen absolute position, but to trigger laser diode (LD) interval time, obtain pulse wave signal and count the angle position data by controller, also comprise number of turns carry accumulative total simultaneously, behind telegram in reply, obtain correct angle value, can start rapidly.
Description of drawings
Fig. 1 is the principle of work synoptic diagram of known AC servomotor control system;
Fig. 2 is the essential structure of optical encoder;
Fig. 3 is the synoptic diagram of the rotation code-disc of known absolute type encoder;
Fig. 4 A is the synoptic diagram of the rotation code-disc of known incremental encoder;
Fig. 4 B is the synoptic diagram of known secondary coded slice;
Fig. 4 C is the synoptic diagram of known optical sensing subassembly;
Fig. 5 is the mechanical gear synoptic diagram;
Fig. 6 is according to high principle of work synoptic diagram of resolving the absolute type code device of the present invention;
Fig. 7 is in high oscillogram of resolving part signal in the absolute type code device of the present invention;
Fig. 8 is the high absolute type code device method of operating of resolving of the present invention.
Description of reference numerals
Igbt (IGBT) module 34
Rotation code-disc 200,300,400
Secondary coded slice 220,420
Optical sensing subassembly 240,440 light sources 260
Circular body 302,402
Grating 304
The first grating 304A, the second grating 304B
The 3rd grating 304C the 4th grating 304D
The 5th grating 304E the 6th grating 304F
The key light grid 404A first secondary grating 404B
The second secondary grating 404C grating 420A
Initial point signal sensing unit 446A, 446B
The high absolute type code device 60 of resolving
Controller 100 power switches 120
Incremental encoder 140 comparers 160
Latch lock unit 180 counters 102
Control signal SW
The first pulse wave signal A1, the B1 second pulse wave signal A2, B2
Embodiment
In order to overcome the aforementioned problem that produces, the present invention with how to generate correct A when the outage, the B pulse wave is counted is main contents, rather than the counting number of turns.So, between outage and telegram in reply, be consistent for A, B pulse wave counting, without any difference, the counting of the number of turns also counts carry from A, B pulse wave.
With reference to figure 6, be principle of work synoptic diagram according to high parsing absolute type code device 60 of the present invention, this height is resolved absolute type code device 60, and to comprise controller 100, power switch 120, incremental encoder 140, comparer 160, breech lock (latch) unit 180 and a battery (not shown, supply electric power Vcc), the electric power of this battery supplied said units.This incremental encoder 140 is known incremental encoder, and comprises laser diode (LD), optical diode (PD) and corresponding rotation code-disc (not marking Reference numeral), and laser diode (LD) is a light source herein, and optical diode (PD) is an optical sensing subassembly; Because this incremental encoder 140 for this technology is known that the personage can understand easily, does not therefore repeat them here.This controller 100 is electrically connected to this power switch 120, and provide control signal SW to this power switch 120, optionally to control laser diode (LD) power supply for continuing to light (normal power supply pattern, or class normal mode (quasi-normal mode) or pulse wave formula operation (battery mode)).Moreover this controller 100 also is electrically connected to this comparer 160 and this latch lock unit 180 and this incremental encoder 140, to provide this control signal SW to this comparer 160, this latch lock unit 180 and this incremental encoder 140.0/180 signal (A+, A-) that is received by optical diode (PD) and 90/270 signal (B+, B-) can obtain the first pulse wave signal A1, B1 after handling through comparer 160; And the first pulse wave signal A1, B1 can obtain the second pulse wave signal A2, B2 after handling through latch lock unit 180.The second pulse wave signal A2, B2 are handled by the counter 102 of controller 100 and promptly know the anglec of rotation, and this controller 100 can be known present absolute angle with outage adding up of angle of back by the angle before the outage.
Figure 7 shows that high oscillogram of resolving part signal in the absolute type code device 60 of the present invention, can produce control signal SW as Fig. 7 by the firmware design of controller 100 or logical design.This control signal SW gives me a little light laser diode (LD) at conducting (High) state, also therefore also produces photoreceptor signal at this while optical diode (PD).Whether photoreceptor signal is covered by rotation code-disc (disk) and secondary coded slice (mask) and determines.The output signal of laser diode (LD) is received and pass through amplification and comparison by optical diode (PD) after, and produce the first pulse wave signal A1, B1.This first pulse wave signal A1, B1 control this latch lock unit 180 by control signal SW and carry out breech lock, to obtain the second pulse wave signal A2, B2.It is identical that this second pulse wave signal A2, B2 signal and laser diode (LD) continue to open (On) resulting signal always.Just along with velocity of rotation quickening, interval time also short more (seeing aftermentioned for details).
Because counting A1, B1 pulse wave, compared to the counting number of turns, need shorter the interval time of control signal SW.For example, if the resolution of rotation code-disc (disk) is 512ppr, when rotating speed was 60rpm so, the pulse wave cycle of the first pulse wave signal A1, B1 was 60/60/512=1/512s=2ms.At least need 2/5ms=0.4ms the interval time of control signal SW, could correct metering pulses number.Lasting unlatching (On) time as for control signal SW is measured decision by the reaction time of laser diode (LD) and optical diode (PD).When normal power supply, control signal SW is in always and continues to open (On) state.Therefore when outage is detected, controller 100 can be according to the angle calculation rotating speed, and when rotating speed is to enough low (for example less than 30rpm) by the time, just switches to battery mode, carries out with 0.4ms the interval time of control signal SW at this moment.By adding up of counter 102, can estimate present rotating speed.When rotating speed surpasses 30rpm, then control signal SW signal will be located at and continue to open (On) state, and high rotating speed can be counted safely.When rotating speed was enough low again, carried out with 0.4ms (also be every 0.4ms conducting once) interval time of control signal SW.As shown in Figure 7, when outage, generally speaking the scrambler rotational speed can be very not fast, and therefore the control signal SW with interrupted conducting cooperates breech lock can accurately learn anglec of rotation counting.As shown in Figure 7, rolling counters forward result is 88,87,86,85, and the absolute position that controller 100 can accurately be learnt present rotation code-disc according to angle information before rolling counters forward result and the outage.
Referring to Fig. 8, be the high absolute type code device method of operating of resolving of the present invention.At first, whether execution in step S100 detects normal power supply; If normal power supply, then execution in step S102 continues conducting (normal mode) by controller 100 drive control signal SW, to continue to detect rotation code-disc (disk) rotating speed; If improper power supply (when for example the three-phase power of motor is not normal), then execution in step S104 powers and interval mode supply control signal SW with battery electric power, to estimate rotating speed (battery mode) under electricity-saving state; Step S110, controller 100 judges whether the rotating speed of rotation code-disc surpasses 30rpm subsequently; If rotating speed surpasses, execution in step S112 then, controller 100 control control signal SW continue to open (On), to continue to detect rotation code-disc (disk) rotating speed, though use battery electric power this moment, but in order to detect rotary code disc spins comparatively at a high speed, therefore still send lasting control of turning signal SW, this pattern is called class normal mode (quasinormal mode); If rotating speed do not surpass, execution in step S104 then, by controller 100 with interval mode supply control signal SW, under electricity-saving state, to estimate rotating speed (battery mode); Under this battery mode, drive this incremental encoder 140 with this control signal SW of the interrupted conducting of interval mode and produce the first pulse wave signal A1, B1; Utilize this first pulse wave signal of this control signal SW breech lock A1, B1, to produce the second pulse wave signal A2, B2; Utilize this second pulse wave signal A2, B2 to calculate the absolute anglec of rotation of this incremental encoder 140.
Technical characterictic of the present invention is as follows:
When 1, cutting off the power supply, do not count the number of turns, but, obtain pulse wave signal A, B and count the angle position data, comprise number of turns carry accumulative total simultaneously yet to trigger laser diode (LD) interval time with the individual pen absolute position;
2, pulse wave signal A, the B that utilizes the breech lock mode to reduce at interval becomes normal continuous pulse wave, makes counter still keep normal counting when outage;
3, utilize different switching cycles normally to count the pulse number of different rotating speeds.
Above-mentioned is preferred embodiment of the present invention only, is not to be used for limiting the scope of the present invention.Be that all equalizations of being done according to the technical solution of the present invention scope change and modification, be claims scope of the present invention and contain.
Claims (8)
1, a kind of high parsing absolute type code device utilizes incremental encoder and battery and the time carries out absolute angle in outage and measure, and it is characterized in that, comprises:
Incremental encoder comprises the rotation code-disc;
Controller is electrically connected to this incremental encoder, and generation controls signal to this incremental encoder;
Comparer is electrically connected to the output of this incremental encoder, so that this incremental encoder output function is obtained first pulse wave signal; And
Latch lock unit is electrically connected to output and this controller of this comparer, under the control signal of this controller the output of this comparer is made latch operations and obtained second pulse wave signal;
Wherein, this controller is when outage, and this control signal of this controller drives is the pulse wave signal of interrupted conducting, and calculates by the counting of second pulse wave signal generation and learn absolute angle information.
2, the high absolute type code device of resolving according to claim 1 is characterized in that, described first pulse wave signal of described latch lock unit breech lock when control signal is conducting when outage.
3, the high absolute type code device of resolving according to claim 1 is characterized in that, when described controller surpasses 30rpm at the rotation code-disc rotating speed of described incremental encoder, and the signal of this control signal of described controller drives for continuing to open.
4, the high absolute type code device of resolving according to claim 3 is characterized in that this rotation code-disc resolution of described incremental encoder is 512ppr, and be 0.4ms the interval time of described control signal.
5, a kind of method of operating of high parsing absolute type code device is utilized incremental encoder and battery and the time is carried out absolute angle in outage and measure, and it is characterized in that, comprises:
At outage and this incremental encoder rotating speed when being lower than speed setting value, drive this incremental encoder with the control signal of interrupted conducting, to produce first pulse wave signal;
Utilize this first pulse wave signal of this control signal breech lock, to produce second pulse wave signal; And
Utilize this second pulse wave signal to calculate the absolute anglec of rotation of this incremental encoder.
6, high method of operating of resolving the absolute type code device according to claim 5 is characterized in that, when outage and rotating speed are higher than described speed setting value, and the signal of the described control signal of described controller drives for continuing to open.
7, high method of operating of resolving the absolute type code device according to claim 5 is characterized in that described speed setting value is 30rpm.
8, high method of operating of resolving the absolute type code device according to claim 5 it is characterized in that the rotation code-disc resolution of described incremental encoder is 512ppr, and is 0.4ms the interval time of described control signal.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106895860A (en) * | 2017-04-10 | 2017-06-27 | 唐山钢铁集团微尔自动化有限公司 | A kind of method for control speed of cold-rolling pickling process for producing line incremental encoder |
| CN109116771B (en) * | 2017-06-22 | 2020-07-28 | 东元电机股份有限公司 | Control command generating method and device |
| WO2021031256A1 (en) * | 2019-08-21 | 2021-02-25 | 浙江禾川科技股份有限公司 | Measurement method and apparatus for magnetic encoder, and device |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4079251A (en) * | 1976-08-12 | 1978-03-14 | Osann Jr Robert | Incremental optical encoder system for absolute position measurement |
| JPS576996A (en) * | 1980-06-17 | 1982-01-13 | Tokyo Optical | Absolute encoder |
| CN1218162C (en) * | 2003-08-21 | 2005-09-07 | 哈尔滨工业大学 | Magnetic photoelectric encoder used for servo system |
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2008
- 2008-05-19 CN CN2008100981473A patent/CN101586968B/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106895860A (en) * | 2017-04-10 | 2017-06-27 | 唐山钢铁集团微尔自动化有限公司 | A kind of method for control speed of cold-rolling pickling process for producing line incremental encoder |
| CN109116771B (en) * | 2017-06-22 | 2020-07-28 | 东元电机股份有限公司 | Control command generating method and device |
| WO2021031256A1 (en) * | 2019-08-21 | 2021-02-25 | 浙江禾川科技股份有限公司 | Measurement method and apparatus for magnetic encoder, and device |
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