CN111006697B - Position data processing and transmission control system, method and application of encoder - Google Patents
Position data processing and transmission control system, method and application of encoder Download PDFInfo
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- CN111006697B CN111006697B CN201911025692.4A CN201911025692A CN111006697B CN 111006697 B CN111006697 B CN 111006697B CN 201911025692 A CN201911025692 A CN 201911025692A CN 111006697 B CN111006697 B CN 111006697B
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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
- G01D5/12—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 using electric or magnetic means
- G01D5/244—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 using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/0001—Systems modifying transmission characteristics according to link quality, e.g. power backoff
- H04L1/0002—Systems modifying transmission characteristics according to link quality, e.g. power backoff by adapting the transmission rate
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/0001—Systems modifying transmission characteristics according to link quality, e.g. power backoff
- H04L1/0006—Systems modifying transmission characteristics according to link quality, e.g. power backoff by adapting the transmission format
- H04L1/0007—Systems modifying transmission characteristics according to link quality, e.g. power backoff by adapting the transmission format by modifying the frame length
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Abstract
The invention belongs to the technical field of data processing, and discloses a position data processing and transmission control system, a method and application of an encoder, wherein the position data processing and transmission control system comprises the following steps: the device comprises an absolute position calculation module, an absolute position splicing module, an absolute decoding module, an absolute position difference value calculation module, a speed detection module, an absolute position data sending frame number selection module and an RS485 communication module. The invention reduces the data volume which needs to be sent finally, shortens the data sending time and improves the working real-time performance and the control precision of the servo system by a communication coding optimization mode. The problem that the data volume sent by the encoder is large is solved; the problems of insufficient real-time performance, control precision and working performance of a servo system are solved. The invention effectively reduces the data volume needing to be sent by the final encoder and shortens the data sending time; the real-time performance, the precision and the working performance of the whole servo system are improved.
Description
Technical Field
The invention belongs to the technical field of data processing, and particularly relates to a position data processing and transmission control system, method and application of an encoder.
Background
Currently, the closest prior art: an encoder (encoder) is a device that compiles, converts, and formats signals (e.g., bitstreams) or data into a form of signals that can be communicated, transmitted, and stored. Encoders convert angular or linear displacements, called codewheels, into electrical signals, called coderulers. The encoder can be divided into a contact type and a non-contact type according to a reading mode; encoders can be classified into an incremental type and an absolute type according to their operation principles. The incremental encoder converts displacement into periodic electrical signals, and then converts the electrical signals into counting pulses, and the number of the pulses is used for expressing the magnitude of the displacement. Each position of the absolute encoder corresponds to a certain digital code, so that its representation is only dependent on the start and end positions of the measurement, and not on the intermediate course of the measurement.
The photoelectric encoder is a light, mechanical and electrical integrated angle measuring device, converts optical signals into electrical signals through a mechanical structure and a signal processing circuit, and accordingly realizes direct or indirect measurement of various physical quantities such as angular displacement, position and speed. Absolute encoders typically transmit absolute position data to a driver using serial communications, such as RS485, SPI, SSI, and the like. For the control of the encoder, data check, and the like, the transmission content thereof includes 6 frames of data including control bit data, status bit data, absolute position data, and check bit data. Taking RS485 as an example, a baud rate of 2.5M is generally used, and it takes 24us to transmit all data. Therefore, the data transmission time is long, the real-time performance of the servo system is reduced, and the overall control performance is reduced.
The prior art is a data transmission processing method, device and system, because the data transmission processing device queries the corresponding channel according to the channel identifier from the configuration device, if there is data to be transmitted in the corresponding channel, the address of the read data is obtained according to the channel identifier, the parallel bit data is obtained according to the address, the field data stored after the last 0-inserting process is restored according to the channel identifier, then the obtained parallel bit data, the last obtained parallel bit data and the lower 5-bit combination of the parallel bit data output after the last 0-inserting process are combined, then the 0-inserting process is performed on the combined parallel bit data, and then the parallel bit data after the 0-inserting process is output; the technology has the advantages that the data sending time is long, the real-time performance of a servo system is reduced, and the overall control performance is reduced.
In summary, the problems of the prior art are as follows: the existing encoder has the defects of long data sending time, reduced real-time performance of a servo system and reduced overall control performance.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a position data processing and transmission control system, a position data processing and transmission control method and an application of an encoder.
The present invention is achieved as described above, and a position data processing and transmission control system of an encoder, the position data processing and transmission control system of the encoder includes:
the absolute position calculation module is used for converting the absolute signal into a low-order absolute position value through steps including phase compensation and subdivision algorithm;
the absolute decoding module is used for generating an absolute position value of a high bit in a binary mode by converting the Gray code;
the absolute position splicing module is used for splicing the high-order absolute position values and the low-order absolute position values output by the absolute position calculating module and the decoding module into a complete absolute position value;
the absolute position difference value calculation module is used for calculating the difference value of the absolute position values of the current period and the previous period to obtain an absolute position difference value;
the absolute position data sending frame number selection module is used for judging that the final encoder needs to send absolute position difference data of several frames to the driver according to the specific speed calculated by the speed detection module;
and the RS485 communication module is used for sending the absolute position difference value to the driver.
Further, the position data processing and transmission control system of the encoder further comprises: and the speed detection module is used for calculating the specific speed by utilizing the absolute position difference value and combining the time used by the interval between the current period and the previous period.
Further, the position data processing and transmission control system of the encoder further comprises: the absolute position data and state bit data merging module is used for merging the difference data and the bit data bits in the sending data state bits; the RS485 communication module then sends the absolute position difference to the driver.
The invention also aims to provide a power motor rotating shaft end provided with the position data processing and transmission control system of the encoder.
Another object of the present invention is to provide a reduction gear of a position data processing and transmission control system having the encoder mounted thereon.
Another object of the present invention is to provide a rack and pinion with the position data processing and transmission control system of the encoder.
Another object of the present invention is to provide a chain belt equipped with the position data processing and transmission control system of the encoder.
Another object of the present invention is to provide a position data processing and transmission control method for an encoder of the position data processing and transmission control system for the encoder, the position data processing and transmission control method for the encoder including the steps of:
firstly, after an encoder is powered on, when an RS485 request command is received, a system starts to calculate an absolute position;
secondly, the absolute position calculation module generates a low-order absolute position value, and the absolute decoding module generates a high-order absolute position value;
thirdly, splicing the high-order absolute position value and the low-order absolute position value into a complete absolute position value through an absolute position splicing module; the absolute position difference value calculating module calculates the difference value of the absolute position values of the period and the previous period, the speed detecting module calculates specific speed by using the difference value and the consumed time of the period, and at the moment, the speed value is judged;
fourthly, when the rotating speed is lower than 1100 revolutions per minute, a zone bit 0 is generated in second frame data, namely state bit data, of the RS485 sending data, and the absolute position data sending frame number selection module sends 8-bit difference data; when the rotating speed is higher than 1100 r/min, generating a zone bit 1 in second frame data of 485 sending data, namely state bit data, and sending 16-bit difference data by an absolute position data sending frame number selection module;
and fifthly, the RS485 communication module sends the absolute position difference data to the driver.
Another object of the present invention is to provide an information data processing terminal that implements the position data processing and transmission control method of the encoder.
Another object of the present invention is to provide a computer-readable storage medium, which includes instructions that, when executed on a computer, cause the computer to execute the position data processing and transmission control method of an encoder.
In summary, the advantages and positive effects of the invention are: the invention reduces the data volume which needs to be sent finally, shortens the data sending time and improves the working real-time performance and the control precision of the servo system by a communication coding optimization mode. The problem that the data volume sent by the encoder is large is solved; the problems of insufficient real-time performance, control precision and working performance of a servo system are solved.
The invention effectively reduces the data volume needing to be sent by the final encoder and shortens the data sending time; the real-time performance, the precision and the working performance of the whole servo system are improved.
Drawings
FIG. 1 is a schematic diagram of a position data processing and transmission control system of an encoder according to an embodiment of the present invention;
in the figure: 1. an absolute position calculation module; 2. an absolute position stitching module; 3. an absolute decoding module; 4. an absolute position difference calculation module; 5. a speed detection module; 6. absolute position data sending frame number selection module; 7. an RS485 communication module; 8. and the absolute position data and state bit data merging module.
Fig. 2 is a flowchart of a position data processing and transmission control method of an encoder according to an embodiment of the present invention.
Fig. 3 is a flowchart of an implementation of a position data processing and transmission control method for an encoder according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of another embodiment provided by the embodiment of the invention.
Fig. 5 is a flow chart of another embodiment provided by the embodiments of the present invention.
Fig. 6 is a schematic flow chart of another embodiment provided by the embodiment of the present invention.
Fig. 7 is a diagram of an RS485 transmit status bit format according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In view of the problems in the prior art, the present invention provides a position data processing and transmission control system, method and application of an encoder, and the present invention is described in detail below with reference to the accompanying drawings.
As shown in fig. 1, a position data processing and transmission control system of an encoder according to an embodiment of the present invention includes: the device comprises an absolute position calculation module 1, an absolute position splicing module 2, an absolute decoding module 3, an absolute position difference value calculation module 4, a speed detection module 5, an absolute position data sending frame number selection module 6 and an RS485 communication module 7.
And the absolute position calculation module 1 is used for converting the absolute signal into a low-order absolute position value through steps including phase compensation, subdivision algorithm and the like.
And the absolute decoding module 2 is used for generating an absolute position value of a high bit by converting the gray code into a binary mode.
And the absolute position splicing module 3 is used for splicing the high-order absolute position values and the low-order absolute position values output by the absolute position calculating module 1 and the absolute decoding module 2 into a complete absolute position value.
And the absolute position difference value calculating module 4 is used for calculating the difference value of the absolute position values of the current period and the previous period to obtain an absolute position difference value.
And the speed detection module 5 is used for calculating the specific speed by using the absolute position difference value and combining the time used by the interval between the current period and the previous period.
And the absolute position data sending frame number selection module 6 is used for judging that the final encoder needs to send absolute position difference data of several frames to the driver according to the specific speed calculated by the speed detection module 5.
And the RS485 communication module 7 is used for sending the absolute position difference value to the driver.
As shown in fig. 2, the method for processing position data and controlling transmission of an encoder according to an embodiment of the present invention includes the following steps:
s201: after the encoder is powered on, when an RS485 request command is received, the system starts to calculate the absolute position;
s202: the absolute position calculation module generates a low absolute position value, and the absolute decoding module generates a high absolute position value;
s203: splicing the high-order absolute position value and the low-order absolute position value into a complete absolute position value through an absolute position splicing module; the absolute position difference value calculating module calculates the difference value of the absolute position values of the period and the previous period, the speed detecting module calculates specific speed by using the difference value and the consumed time of the period, and at the moment, the speed value is judged;
s204: when the rotating speed is lower than 1100 r/min, a zone bit 0 is generated in second frame data, namely state bit data, of the RS485 sending data, and the absolute position data sending frame number selection module sends 8-bit difference data; when the rotating speed is higher than 1100 r/min, generating a zone bit 1 in second frame data of 485 sending data, namely state bit data, and sending 16-bit difference data by an absolute position data sending frame number selection module;
s205: the RS485 communication module sends absolute position difference data to the driver.
As shown in fig. 4, the position data processing and transmission control system of the encoder according to the embodiment of the present invention includes: the device comprises an absolute position calculation module 1, an absolute position splicing module 2, an absolute decoding module 3, an absolute position difference value calculation module 4, an absolute position data and state bit data merging module 8 and an RS485 communication module 7.
And the absolute position calculation module 1 is used for converting the absolute signal into a low-order absolute position value through steps of phase compensation, subdivision algorithm and the like.
And the absolute decoding module 2 is used for generating an absolute position value of a high bit by converting the gray code into a binary mode.
And the absolute position splicing module 3 is used for splicing the high-order absolute position values and the low-order absolute position values output by the absolute position calculating module 1 and the absolute position splicing module 2 into a complete absolute position value.
And the absolute position difference value calculating module 4 is used for calculating the difference value of the absolute position values of the current period and the previous period to obtain an absolute position difference value.
And the absolute position data and state bit data merging module 8 is used for merging the difference data with the 4-bit data bits in the sending data state bits.
And the RS485 communication module 7 is used for sending the absolute position difference value to the driver.
As shown in fig. 5, the method for processing position data and controlling transmission of an encoder according to an embodiment of the present invention includes the following steps:
s501: after the encoder is powered on, when an RS485 request command is received, the system starts to calculate the absolute position;
s502: the absolute position calculation module generates a low absolute position value, and the absolute decoding module generates a high absolute position value;
s503: splicing the high-order absolute position value and the low-order absolute position value into a complete absolute position value through an absolute position splicing module; the absolute position difference value calculating module calculates the difference value of the absolute position values of the period and the previous period, the speed detecting module calculates specific speed by using the difference value and the consumed time of the period, and at the moment, the speed value is judged;
s504: when the rotating speed is lower than 1100 r/min, a zone bit 0 is generated in second frame data, namely state bit data, of the RS485 sending data, and the absolute position data and state bit data merging module sends 8-bit difference data; when the rotating speed is higher than 1100 r/min, generating a zone bit 1 in second frame data, namely state bit data of 485 sending data, and sending 16-bit difference data by an absolute position data and state bit data merging module;
s505: the RS485 communication module sends absolute position difference data to the driver.
Compared with the prior art, the invention can reduce the sending of two frames of data at most and shorten the communication time by 33 percent through the communication coding optimization mode. Therefore, the working real-time performance and the control precision of the servo system are improved.
It should be noted that the embodiments of the present invention can be realized by hardware, software, or a combination of software and hardware. The hardware portion may be implemented using dedicated logic; the software portions may be stored in a memory and executed by a suitable instruction execution system, such as a microprocessor or specially designed hardware. Those skilled in the art will appreciate that the apparatus and methods described above may be implemented using computer executable instructions and/or embodied in processor control code, such code being provided on a carrier medium such as a disk, CD-or DVD-ROM, programmable memory such as read only memory (firmware), or a data carrier such as an optical or electronic signal carrier, for example. The apparatus and its modules of the present invention may be implemented by hardware circuits such as very large scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc., or by software executed by various types of processors, or by a combination of hardware circuits and software, e.g., firmware.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A position data processing and transmission control system for an encoder, the position data processing and transmission control system comprising:
the absolute position calculation module is used for converting the absolute signal into a low-order absolute position value through steps including phase compensation and subdivision algorithm;
the absolute decoding module is used for generating an absolute position value of a high bit in a binary mode by converting the Gray code;
the absolute position splicing module is used for splicing the high-order absolute position values and the low-order absolute position values output by the absolute position calculating module and the absolute decoding module into a complete absolute position value;
the absolute position difference value calculation module is used for calculating the difference value of the absolute position values of the current period and the previous period to obtain an absolute position difference value;
the absolute position data sending frame number selection module is used for judging that the final encoder needs to send absolute position difference data of several frames to the driver according to the specific speed calculated by the speed detection module;
and the RS485 communication module is used for sending the absolute position difference value to the driver.
2. The position data processing and transmission control system of an encoder according to claim 1, wherein the position data processing and transmission control system of an encoder further comprises: and the speed detection module is used for calculating the specific speed by utilizing the absolute position difference value and combining the time used by the interval between the current period and the previous period.
3. The position data processing and transmission control system of an encoder according to claim 1, wherein the position data processing and transmission control system of an encoder further comprises: the absolute position data and state bit data merging module is used for merging the difference data and the bit data bits in the sending data state bits; the RS485 communication module then sends the absolute position difference to the driver.
4. A power motor shaft end provided with a position data processing and transmission control system of the encoder as claimed in any one of claims 1 to 3.
5. A reduction gear of a position data processing and transmission control system equipped with the encoder according to any one of claims 1 to 3.
6. A rack and pinion equipped with a position data processing and transmission control system of the encoder according to any one of claims 1 to 3.
7. A chain belt equipped with a position data processing and transmission control system of the encoder according to any one of claims 1 to 3.
8. A position data processing and transmission control method of an encoder of a position data processing and transmission control system of an encoder according to claim 1, wherein the position data processing and transmission control method of the encoder comprises the steps of:
firstly, after an encoder is powered on, when an RS485 request command is received, a system starts to calculate an absolute position;
secondly, the absolute position calculation module generates a low-order absolute position value, and the absolute decoding module generates a high-order absolute position value;
thirdly, splicing the high-order absolute position value and the low-order absolute position value into a complete absolute position value through an absolute position splicing module; the absolute position difference value calculating module calculates the difference value of the absolute position values of the period and the previous period, the speed detecting module calculates specific speed by using the difference value and the consumed time of the period, and at the moment, the speed value is judged;
fourthly, when the rotating speed is lower than 1100 revolutions per minute, a zone bit 0 is generated in second frame data, namely state bit data, of the RS485 sending data, and the absolute position data sending frame number selection module sends 8-bit difference data; when the rotating speed is higher than 1100 r/min, generating a zone bit 1 in second frame data of 485 sending data, namely state bit data, and sending 16-bit difference data by an absolute position data sending frame number selection module;
and fifthly, the RS485 communication module sends the absolute position difference data to the driver.
9. An information data processing terminal for implementing the position data processing and transmission control method of the encoder according to claim 8.
10. A computer-readable storage medium comprising instructions which, when executed on a computer, cause the computer to execute the position data processing and transmission control method of an encoder according to claim 8.
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