CN108844558B - Method for realizing power-off position memory by using single-turn absolute value encoder - Google Patents
Method for realizing power-off position memory by using single-turn absolute value encoder Download PDFInfo
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- CN108844558B CN108844558B CN201810694360.4A CN201810694360A CN108844558B CN 108844558 B CN108844558 B CN 108844558B CN 201810694360 A CN201810694360 A CN 201810694360A CN 108844558 B CN108844558 B CN 108844558B
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- 238000003860 storage Methods 0.000 claims abstract description 4
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000011084 recovery Methods 0.000 abstract description 5
- 230000007774 longterm Effects 0.000 abstract description 4
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
- G01D5/3473—Circular or rotary encoders
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Abstract
The invention discloses a method for realizing power failure position memory by using a single-turn absolute value encoder, which comprises the single-turn absolute value encoder, a main controller and a standby power supply, wherein the main controller is provided with a turn number counting module, a position information processing module, a data storage module and a power failure detection module, and the method comprises power failure detection and storage and recovery operations of power failure position information. The method can record the multi-turn absolute position only by using a common single-turn absolute value encoder without being limited by turns and influenced by power failure, not only can solve the problem that the number of the metering turns of the conventional multi-turn absolute value encoder is limited, but also can solve the bottleneck problem that the conventional single-turn absolute value encoder cannot realize power failure position memory, can realize memory and recovery of the power failure position, and can be suitable for both short-term interruption and long-term interruption of power supply.
Description
Technical Field
The invention relates to a method for realizing power-off position memory by using a single-turn absolute value encoder, belonging to the technical field of encoders.
Background
The rotary encoder is a device for measuring the position of a motor shaft or the rotating speed of the motor shaft, and can be divided into an incremental type and an absolute value type according to the encoding form, and can be divided into a single circle and a plurality of circles according to the circle recording mode. At present, a multi-turn absolute value encoder is used more, and because the existing multi-turn absolute value encoder consists of a single-turn absolute value grating or magnetic grating and a multi-turn counting mechanism of a gear, the absolute position encoder has the greatest advantages of providing absolute position information and being not influenced by power failure, but the stroke of the encoder is limited by the number of turns, the metering range is limited, the number of turns is more, the structure of the encoder is more complex, the size is larger, the cost is higher, and the encoder is not beneficial to realizing integration and miniaturization. Although the single-turn absolute value encoder has a simple structure and a cost much lower than that of a multi-turn absolute value encoder, the single-turn absolute value encoder has the defect that only the absolute position in one turn can be recorded.
The invention patent application with the application number of CN201710678148.4 discloses a multi-turn absolute value encoder, which is characterized in that 1 single-turn absolute value encoder is used for position detection during normal power supply and recording position data by 1 single chip microcomputer during normal power supply, 1 common encoder is used for position detection during power failure, and the other 1 low-power consumption single chip microcomputer continues to record position data after power failure.
Disclosure of Invention
In view of the above problems in the prior art, an object of the present invention is to provide a method for implementing power failure position memory by using a single-turn absolute value encoder, so that the memory of multiple-turn absolute positions can be implemented only by 1 common single-turn absolute value encoder without being limited by the number of turns, and in particular, the memory of positions is not affected by power failure, and the memory and recovery of power failure positions can be implemented, and the method is applicable to both short-term and long-term power supply interruption.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a method for realizing power failure position memory by using a single-turn absolute value encoder comprises the single-turn absolute value encoder, a main controller and a standby power supply, wherein the main controller is provided with a turn number counting module, a position information processing module, a data storage module and a power failure detection module; the method comprises the following steps:
s1) once the power failure detection module detects the power failure of the working power supply, the standby power supply is started immediately to supply power to the main controller, and the current position information and the check code thereof are stored at the same time according to the preset time interval, and the storage of the position information and the check code thereof is stopped until the power failure detection module detects that the working power supply recovers the power supply or the power supply amount of the standby power supply is insufficient;
s2) once the working power supply is restored, the position information processing module starts to read the position information and the check code thereof from the data storage module, if the check code of the position information has errors, the reading is continued until the check codes of 4 continuous position information are correct; if all the position information is read and the check codes of 4 continuous position information are not all correct, the zero point needs to be calibrated again;
s3) if the check codes of 4 continuous position information are read to be correct, 2 continuous position information with equal values are found from the latest position;
s4) if not found, repeating step S2) and step S3);
s5) if all the position information is read, no 2 continuous position information with equal value is found, the zero point needs to be calibrated again;
s6) if such position information is found, it is used as the initial position information after the power outage is resumed.
According to a preferable scheme, the continuous power supply capacity of the standby power supply can ensure that position information and a check code thereof can be stored for at least 4 times after the single-circle absolute value encoder stops rotating.
In a preferred embodiment, calibrating the zero point comprises the following operations:
inputting a calibration signal from the outside, and recording the current position value of the single-turn absolute value encoder as a calculation formula of the position information P by using the signal: p is the value of m in n × L + m, with n set to 0;
n in the above formula is the number of turns, L is the number of single turns of the single turn absolute value encoder, and m is the position within the turn.
In a preferred embodiment, the time interval in step S1) is 100 milliseconds each time.
Compared with the prior art, the invention has the following beneficial effects:
the method can realize the recording of the multi-turn absolute position only by 1 common single-turn absolute value encoder without being limited by the number of turns (because the number of turns in the patent is program counting and is not counted by the prior gear mechanism), and has the key point that the method can realize the memory of the power-off position, not only can solve the problem that the number of turns of the conventional multi-turn absolute value encoder is limited by the number of turns, but also can solve the bottleneck problem that the prior single-turn absolute value encoder cannot realize the memory of the power-off position, creatively utilizes the technology of combining software and hardware to realize the recording of the multi-turn absolute position by one common single-turn absolute value encoder, is not influenced by the power-off, can realize the memory and the recovery of the power-off position, can be suitable no matter whether the power supply is interrupted for a short term or a long term, and is simple and easy to realize, the use cost is low, so compared with the prior art, the invention has significant progress and strong industrial practical value.
Detailed Description
The technical solution of the present invention is further described in detail with reference to the following examples.
Examples
The invention provides a method for realizing outage position memory by using a single-turn absolute value encoder, which comprises the single-turn absolute value encoder, a main controller and a standby power supply, wherein the main controller is provided with a turn number counting module, a position information processing module, a data storage module and an outage detection module; the method comprises the following steps:
s1) once the power failure detection module detects the power failure of the working power supply, the standby power supply is started immediately to supply power to the main controller, and the current position information and the check code thereof are stored at the same time according to the preset time interval, and the storage of the position information and the check code thereof is stopped until the power failure detection module detects that the working power supply recovers the power supply or the power supply amount of the standby power supply is insufficient;
s2) once the working power supply is restored, the position information processing module starts to read the position information and the check code thereof from the data storage module, if the check code of the position information has errors, the reading is continued until the check codes of 4 continuous position information are correct; if all the position information is read and the check codes of 4 continuous position information are not all correct, the zero point needs to be calibrated again;
s3) if the check codes of 4 continuous position information are read to be correct, 2 continuous position information with equal values are found from the latest position;
s4) if not found, repeating step S2) and step S3);
s5) if all the position information is read, no 2 continuous position information with equal value is found, the zero point needs to be calibrated again;
s6) if such position information is found, it is used as the initial position information after the power outage is resumed.
As a preferable scheme:
the continuous power supply capacity of the standby power supply can ensure that position information and a check code thereof can be stored for at least 4 times after the single-circle absolute value encoder stops rotating.
Calibrating the zero point includes the following operations:
inputting a calibration signal from the outside, and recording the current position value of the single-turn absolute value encoder as the following calculation formula of the position information P by using the signal: p is the value of m in n × L + m, with n set to 0;
n in the above formula is the number of turns, L is the number of single turns of the single turn absolute value encoder, and m is the position within the turn.
The time interval in step S1) is 100 milliseconds each time.
The method can realize the recording of the multi-turn absolute position only by a common single-turn absolute value encoder without being limited by the number of turns (because the number of turns in the patent is program counting and is not counted by the prior gear mechanism), and has the key points that the method can realize the memory of the power-off position, not only can solve the problem that the number of the metering turns of the prior multi-turn absolute value encoder is limited, but also can solve the bottleneck problem that the prior single-turn absolute value encoder cannot realize the memory of the power-off position, creatively utilizes the technology of combining software and hardware to realize the recording of the multi-turn absolute position by the common single-turn absolute value encoder, is not influenced by the power-off, can realize the memory and the recovery of the power-off position, can be suitable no matter whether the power supply is interrupted for a short term or a long term, and is simple and easy to realize, the use cost is low, so compared with the prior art, the invention has significant progress and strong industrial practical value.
It is finally necessary to point out here: the above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (4)
1. A method for realizing power-off position memory by using a single-turn absolute value encoder is characterized by comprising the following steps: the device comprises a single-turn absolute value encoder, a main controller and a standby power supply, wherein the main controller is provided with a turn number counting module, a position information processing module, a data storage module and a power-off detection module; the method comprises the following steps:
s1) once the power failure detection module detects the power failure of the working power supply, the standby power supply is started immediately to supply power to the main controller, and the current position information and the check code thereof are stored at the same time according to the preset time interval, and the storage of the position information and the check code thereof is stopped until the power failure detection module detects that the working power supply recovers the power supply or the power supply amount of the standby power supply is insufficient;
s2) once the working power supply is restored, the position information processing module starts to read the position information and the check code thereof from the data storage module, if the check code of the position information has errors, the reading is continued until the check codes of 4 continuous position information are correct; if all the position information is read and the check codes of 4 continuous position information are not all correct, the zero point needs to be calibrated again;
s3) if the check codes of 4 continuous position information are read to be correct, 2 continuous position information with equal values are found from the latest position;
s4) if not found, repeating step S2) and step S3);
s5) if all the position information is read, no 2 continuous position information with equal value is found, the zero point needs to be calibrated again;
s6) if such position information is found, it is used as the initial position information after the power outage is resumed.
2. The method of claim 1, wherein: the continuous power supply capacity of the standby power supply can ensure that position information and a check code thereof can be stored for at least 4 times after the single-circle absolute value encoder stops rotating.
3. The method of claim 1, wherein: calibrating the zero point includes the following operations:
inputting a calibration signal from the outside, and recording the current position value of the single-turn absolute value encoder as a calculation formula of the position information P by using the signal: p is the value of m in n × L + m, with n set to 0;
n in the above formula is the number of turns, L is the number of single turns of the single turn absolute value encoder, and m is the position within the turn.
4. The method of claim 1, wherein: the time interval in step S1) is 100 milliseconds each time.
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| CN111649769A (en) * | 2020-05-21 | 2020-09-11 | 江苏集萃智能制造技术研究所有限公司 | Multi-circle using method of robot joint tail end single-circle magnetic encoder |
| CN111882021B (en) * | 2020-08-04 | 2023-12-12 | 杭州草部科技有限公司 | Meter coil positioning control system with energy storage function |
| CN112945283B (en) * | 2021-02-05 | 2022-11-04 | 浙江禾川科技股份有限公司 | Method, device and system for decoding turn number of absolute encoder |
| CN114061627A (en) * | 2021-11-01 | 2022-02-18 | 之江实验室 | Electronic multi-turn absolute value encoder system, device and working method |
| CN115061415B (en) * | 2022-08-18 | 2023-01-24 | 赫比(成都)精密塑胶制品有限公司 | Automatic process monitoring method and device and computer readable storage medium |
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