CN101571409A - Absolute optical code wheel as well as absolute coder and method for detecting absolute position thereof - Google Patents
Absolute optical code wheel as well as absolute coder and method for detecting absolute position thereof Download PDFInfo
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Abstract
The invention relates to an absolute optical code wheel as well as an absolute coder and a method for detecting the absolute position thereof. The absolute coder comprises the absolute optical code wheel, and the absolute optical code wheel comprises a main raster unit and two auxiliary raster units; the two auxiliary raster units are respectively positioned at two sides of the main raster unit, and the raster numbers of the two auxiliary raster units are one less than that of the main raster unit. When the absolute coder is used for detecting the absolute position, the absolute optical code wheel can be rotated so as to find out optical detection signal zero points of the auxiliary raster units and also numerical values corresponding to the zero points of the main raster unit, thereby the absolute position can be derived. As the absolute coder can provide the calculation of an increment position and the absolute position simultaneously, the using elasticity can be increased.
Description
Technical field
The present invention is relevant for a kind of absolute type encoder and method of operating thereof, particularly relevant for a kind of method of utilizing absolute optical code wheel, absolute type encoder and the detection absolute position thereof of incremental encoder framework.
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 block scheme 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 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 accurate control motor 10 rotating speeds.
Clearer and more definite, in servo motor, the position transducer that is installed on the motor shaft is an optical encoder 12, and the bearing accuracy of servo motor depends on the resolution height of scrambler, and optical encoder (or claiming rotary encoder) 12 is divided into incremental encoder and absolute type encoder again.
Incremental encoder can only provide the information of position 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, the absolute value of output shaft angle or position and can not lose the information of position because of power interruption need not the program of making zero after therefore outage powers on again at any time, has simplified the running of control system.
Referring to Fig. 2, synoptic diagram for the essential structure of optical encoders, angle sensors, the light that light source 260 sends arrives optical sensing subassembly 240 through rotation code-disc 200 and a fixed secondary code-wheel 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 code-disc design that is 6 (6bit) binary codes.This rotation code-disc 300 comprises circular body 302 and most gratings 304.This grating 304 comprises 1 first grating 304A being positioned at inner ring encoded tracks and occupying 1/2 circumference, in the inboard second circle encoded tracks and respectively occupy 2 second grating 304B, the 3rd grating 304C, the 4th grating 304D, the 5th grating 304E of quarter turn and in the outermost encoded tracks and respectively occupy 32 the 6th grating 304F of 1/64 circumference.Therefore can produce different light and shade signals along radiation (radial) direction, and can realize 2 along circumferencial direction
6=64 resolution.Yet at absolute type encoder framework as shown in Figure 3, a resolution position of every increase (bit) code-disc just must increase the encoded tracks of circle, and 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 has just limited to some extent.
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.These gratings comprise key light grid 404A, the first secondary grating 404B and the second secondary grating 404C, and this first secondary grating 404B and the second secondary grating 404C be respectively in key light grid 404A both sides, and on circular body 402 ad-hoc locations.Referring to Fig. 4 B, it is the synoptic diagram of secondary code-wheel 420; This pair code-wheel 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 corresponding to key light grid 404A, also promptly is denoted as the zone of A+/B+/A-/B-.When 400 rotations of rotation code-disc, can produce the signal of similar string ripple in four unit (A+/B+/A-/B-) of optical sensing subassembly 440.The phase place of these four string ripples is respectively 0/90/180/270 degree, gets 0/180 signal (A+/A-) do can be eliminated after the differential amplification sinusoidal signal A of common-mode noise (common mode noise); Same 90/270 signal (B+/B-) do to be eliminated after the differential amplification cosine signal B of common-mode noise that gets; Phase differential 90 degree of A, two signals of B can be used for judging forward or reverse.
Incremental encoder basically need only A, the B signal just can detect positional information, but because this positional information only provides the information with respect to last position, therefore also initial point signal sensing unit 446A need be set in addition, 446B (Z+/Z-) returns earlier when powering in each system and just can obtain absolute location information after initial point makes zero.The advantage of incremental encoder is only to need six signals just can obtain high-resolution positional information, its shortcoming then is to start shooting to power on all to carry out back the initial point action at every turn, not only lose time and do not allow go back to the application scenario of initial point program at some, incremental encoder just can't meet demand and need set up absolute type encoder.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of absolute optical code wheel, absolute type encoder and method of operating thereof that realizes the absolute addressing function with the incremental encoder framework, need not each start powers on and carries out back initial point and move the action of simplified control system.
In order to reach above-mentioned purpose, the invention provides a kind of absolute optical code wheel, it comprises the code wheel main body, and this code wheel main body comprises:
Key light grid unit, it has the key light grid of first number, and these key light grid are arranged along the circumferencial direction of this code wheel main body; And
At least one secondary raster unit, it has the secondary grating of second number, and should arrange along the circumferencial direction of this code wheel main body by the pair grating, and wherein this second number is than few one of this first number.
The present invention also provides a kind of absolute type encoder, and it comprises the code wheel main body, and this absolute type encoder can judge the absolute position of this code wheel main body and light source, and this absolute type encoder comprises:
Key light grid unit, it has the key light grid of first number, and these key light grid are arranged along the circumferencial direction of this code wheel main body;
At least one secondary raster unit, it has the secondary grating of second number, and should arrange along the circumferencial direction of this code wheel main body by the pair grating, and this second number is than few one of this first number;
A most main sensing cell, it is provided with corresponding to this key light grid unit, and receives the light of this light emitted;
At least one modulation rail sensing unit, it is corresponding to this at least one secondary raster unit setting, and receives the light of this light emitted; And
Controller is electrically connected to this main sensing cell and this at least one modulation rail sensing unit, and can judges the absolute position of this code wheel main body for this light source by the sensing result of most these main sensing cells and this at least one modulation rail sensing unit.
In addition, the present invention also provides a kind of method of using absolute type encoder to detect the absolute position, and this method comprises:
Light source is provided;
The absolute optical code wheel is provided, and it comprises:
The code wheel main body;
Key light grid unit, it has the key light grid of first number, and these key light grid are arranged along the circumferencial direction of this code wheel main body; And
At least one secondary raster unit, it has the secondary grating of second number, and should arrange along the circumferencial direction of this code wheel main body by the pair grating, and this second number is than few one of this first number;
Drive the amount of spin that this absolute optical code wheel rotates a grating, and detect a zero point corresponding to this pair raster unit inspection light signal;
Find out this key light grid unit corresponding to the inspection light numerical value at this zero point, and the absolute position of calculating this absolute optical code wheel.
This absolute type encoder comprises the absolute optical code wheel, and this absolute optical code wheel comprises key light grid unit and two secondary raster units; These two secondary raster units lay respectively at these both sides, key light grid unit and raster count lacks one than this key light grid unit.When this absolute type encoder is made absolute position detection, can rotate this absolute optical code wheel finding out the inspection light signal zero point of this pair raster unit, and find out this key light grid unit numerical value that should zero point, can calculate the absolute position whereby.Because this absolute type encoder can provide incremental counter and absolute position to calculate simultaneously, therefore can increase use elasticity.
As can be seen from the above technical solutions, the present invention realizes the function of output absolute position with the track number of incremental encoder; Absolute type encoder can use increment signal and interpolation absolute position signal with the raised position degree of accuracy alternately; Main signal and modulation signal adopt differential amplification mode to eliminate common-mode noise.
Description of drawings
Fig. 1 is the block scheme of known AC servomotor control system;
Fig. 2 is the essential structure synoptic diagram of optical encoders, angle sensors;
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 code-wheel;
Fig. 4 C is the synoptic diagram of known optical sensing subassembly;
Fig. 5 A is the synoptic diagram of the rotation code-disc of scrambler of the present invention;
Fig. 5 B is the synoptic diagram of the secondary code-wheel of the present invention;
Fig. 5 C is the synoptic diagram of optical sensing subassembly of the present invention;
Fig. 6 is the inspection light signal of explanation main signal track and modulation rail sensing unit.
Description of reference numerals
Igbt (IGBT) module 34
Rotation code-disc 200 rotation code-discs 300 rotation code-discs 400
Secondary code-wheel 220 secondary code-wheels 420
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 initial point signal sensing unit 446B
Rotation code-disc 100 circular body 102
Secondary code-wheel 120 grating 120A
The key light grid unit 104A first secondary raster unit 104B
The second secondary raster unit 104C
Modulation rail sensing unit 146A modulation rail sensing unit 146B
Embodiment
Absolute type encoder mostly adopts the position encoded mode of entity that absolute location information is provided at present, coded system commonly used has binary code (Binary Code) and Gray code (Gray Code) dual mode, no matter be binary code or Gray code, the parsing precision of scrambler depends on the quantity of sensing component, and the quantity of the sensing component big more cost of volume of odd encoder device more is also just high more.Fundamental purpose of the present invention is to utilize the framework of incremental encoder to realize the function of absolute type encoder, only need in the original code-disc of incremental encoder, to increase by one group of modulation signal (modulating signal), just can produce the one group of sine and the cosine signal of cycles 360 degree, but utilize this group sine and cosine signal just interpolation take the post as constantly an absolute location information.
Referring to Fig. 5 A, be rotation code-disc 100 (also the being the absolute optical code wheel) synoptic diagram of absolute type encoder of the present invention, this rotation code-disc 100 comprises circular body (being the code wheel main body of absolute optical code wheel) 102 and this circular body comprises most gratings.These gratings comprise the key light grid unit 104A that is positioned at the main signal track, be positioned at the first secondary raster unit 104B and the second secondary raster unit 104C of at least one modulation track (being illustrated as two), wherein the raster count of the first secondary raster unit 104B and the second secondary raster unit 104C (second number) lacks 1 than this key light grid unit 104A number (first number).For example the raster count of these key light grid unit 104A can be 2500, and then the raster count of the first secondary raster unit 104B and the second secondary raster unit 104C is 2499.
Referring to Fig. 5 B, be the synoptic diagram of secondary code-wheel 120; This pair code-wheel 120 and the relative position relation similar to known technology (referring to Fig. 2) that rotates code-disc 100 and optical sensing subassembly 140, and should comprise the grating 120A that four rows correspond respectively to optical sensing subassembly (being detailed later) by pair code-wheel 120.Referring to Fig. 5 C, synoptic diagram for optical sensing subassembly 140, this optical sensing subassembly 140 comprises the main sensing cell 142A corresponding to key light grid unit 104A, main sensing cell 144A, main sensing cell 142B, main sensing cell 144B, also promptly is denoted as the zone of A+/B+/A-/B-.Moreover this optical sensing subassembly 140 also comprises modulation rail sensing unit 146A and modulation rail sensing unit 146B corresponding to the first secondary raster unit 104B and the second secondary raster unit 104C.
Fundamental purpose of the present invention is the function that realizes absolute addressing under the framework of simplifying at incremental encoder, with reference to the design of the rotation code-disc shown in the figure 5A, utilize the zone of increment type Z+/Z-to be provided with the modulation track (M+/M-) that lacks a grating than A+/A-/B+/B-main signal track.For the purpose of convenient diagram, suppose that herein key light grid unit 104A has 16 gratings, and the first secondary raster unit 104B and the second secondary raster unit 104C have 15 gratings.Referring to Fig. 6, the main signal track turns around and goes up 16 sine waves of differential generation (main signal is the solid line part) at A+/A-light sensing unit (main sensing cell 142A and 142B), with the differential signal (sub signal is a dotted portion) that comes out of modulation rail sensing unit 146A and 146B (M+/M-) the institute sinusoidal signal that the cycle that can obtain 360 spends of doing to take a sample.As shown in Figure 6, if controller is (not shown, can utilize controller 14 as shown in Figure 1, and controller is electrically connected to this main sensing cell 142A, 142B and this at least one modulation rail sensing unit 146A or 146B) promote the rotation amount θ (corresponding to the angular transformations of 2 degree) that this rotation code-disc 100 moves a grating, then can find out corresponding to modulation rail sensing unit 146A and 146B signal is 360 the corresponding numerical value (corresponding to the numerical value of circle points) of A+/A-master's sensing cell (main sensing cell 142A and 142B) when spending (2 π) zero point (A point).Because utilizing modulation rail sensing unit 146A and 146B signal is that the numerical value of the 360 degree A+/A-optical sensing subassembly of take a sample (2 π) zero point is the sinusoidal signal of one-period 360 degree, so can utilize this A point value corresponding to find out the absolute position of this rotation code-disc 100.By above-mentioned absolute optical code wheel, above-mentioned secondary code-wheel 120, and controller judge the absolute type encoder that can constitute the present invention.
Above-mentioned explanation is an example with the key light grid unit 104A with 16 gratings, if the raster count of key light grid unit 104A is many more, then the rotation amount of a grating is just more little.
Same B+/B-master's sensing cell, promptly main sensing cell 144A and 144B produce 16 cosine wave (CW)s and make the cosine signal that sampling can obtain cycle 360 degree with the signal M that modulates track, but utilize cosine and sine signal just interpolation go out absolute position signal, this new framework is owing to still keep the incremental signal of 16 gratings, the basic accuracy of increment type is still possessed in the absolute position that interpolation is come out, if the high-order harmonic wave component of initial sinusoids signal and cosine signal is enough little simultaneously, the interpolation absolute positional accuracy also can upwards promote.
Advantage of the present invention may be summarized as follows:
1, realizes the function of output absolute position with the track number of incremental encoder;
2, absolute type encoder can use increment signal and interpolation absolute position signal with the raised position degree of accuracy alternately;
3, main signal and modulation signal adopt differential amplification mode to eliminate common-mode noise.
Though embodiments of the invention are example with the framework of optical encoders, angle sensors, the absolute addressing mode that is proposed is applicable to the scrambler with other physical principle such as aspects such as electromagnetism, electric capacity.
Claims (14)
1, a kind of absolute optical code wheel is characterized in that, it comprises the code wheel main body, and this code wheel main body comprises:
Key light grid unit, it has the key light grid of first number, and these key light grid are arranged along the circumferencial direction of this code wheel main body; And
At least one secondary raster unit, it has the secondary grating of second number, and should arrange along the circumferencial direction of this code wheel main body by the pair grating, and wherein this second number is than few one of this first number.
2, absolute optical code wheel according to claim 1 is characterized in that, described code wheel main body has a secondary raster unit, and should the pair raster unit be positioned at described key light grid unit inside.
3, absolute optical code wheel according to claim 1 is characterized in that, described code wheel main body has a secondary raster unit, and should the pair raster unit be positioned at the outside, described key light grid unit.
4, absolute optical code wheel according to claim 1 is characterized in that, described code wheel main body has two secondary raster units, and these two secondary raster units lay respectively at the inboard and the outside of described key light grid unit.
5, absolute optical code wheel according to claim 1 is characterized in that, first number of described key light grid is 2500, and second number of described secondary grating is 2499.
6, a kind of absolute type encoder, it comprises the code wheel main body, and this absolute type encoder can judge the absolute position of this code wheel main body and light source, it is characterized in that this absolute type encoder comprises:
Key light grid unit, it has the key light grid of first number, and these key light grid are arranged along the circumferencial direction of this code wheel main body;
At least one secondary raster unit, it has the secondary grating of second number, and should arrange along the circumferencial direction of this code wheel main body by the pair grating, and this second number is than few one of this first number;
A most main sensing cell, it is provided with corresponding to this key light grid unit, and receives the light of this light emitted;
At least one modulation rail sensing unit, it is corresponding to this at least one secondary raster unit setting, and receives the light of this light emitted; And
Controller is electrically connected to this main sensing cell and this at least one modulation rail sensing unit, and can judges the absolute position of this code wheel main body for this light source by the sensing result of most these main sensing cells and this at least one modulation rail sensing unit.
7, absolute type encoder according to claim 6 is characterized in that, described code wheel main body has a secondary raster unit, and should the pair raster unit be positioned at described key light grid unit inside.
8, absolute type encoder according to claim 6 is characterized in that, described code wheel main body has a secondary raster unit, and should the pair raster unit be positioned at the outside, described key light grid unit.
9, absolute type encoder according to claim 6 is characterized in that, described code wheel main body has two secondary raster units, and these two secondary raster units lay respectively at the inboard and the outside of described key light grid unit.
10, absolute type encoder according to claim 6 is characterized in that, described main sensing cell comprises 4 sensing cells that the phasic difference of sensing phase is 90 degree.
11, absolute type encoder according to claim 6 is characterized in that, described modulation rail sensing unit comprises 2 sensing cells that the phasic difference of sensing phase is 180 degree.
12, a kind of method of using absolute type encoder to detect the absolute position is characterized in that, the method that this use absolute type encoder detects the absolute position comprises:
Light source is provided;
The absolute optical code wheel is provided, and it comprises:
The code wheel main body;
Key light grid unit, it has the key light grid of first number, and these key light grid are arranged along the circumferencial direction of this code wheel main body; And
At least one secondary raster unit, it has the secondary grating of second number, and should arrange along the circumferencial direction of this code wheel main body by the pair grating, and this second number is than few one of this first number;
Drive the amount of spin that this absolute optical code wheel rotates a grating, and detect a zero point corresponding to this pair raster unit inspection light signal;
Find out this key light grid unit corresponding to the inspection light numerical value at this zero point, and the absolute position of calculating this absolute optical code wheel.
13, method according to claim 12 is characterized in that, described key light grid unit, described secondary raster unit are the sinusoidal signal of cycle 360 degree corresponding to the inspection light numerical value at this zero point.
14, method according to claim 12 is characterized in that, described key light grid unit, described secondary raster unit are the cosine signal of cycle 360 degree corresponding to the inspection light numerical value at this zero point.
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| CN103240743A (en) * | 2013-05-14 | 2013-08-14 | 中国科学院自动化研究所 | System and method for improving performance of incremental code disc |
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| CN103528612B (en) * | 2013-10-26 | 2017-01-11 | 连云港杰瑞电子有限公司 | Method for increasing resolution ratio of absolute rotary encoder |
| CN103940457A (en) * | 2014-05-12 | 2014-07-23 | 长春禹衡光学有限公司 | Method for realizing counting turns of electronic type multi-turn encoder with low power consumption |
| CN106052724B (en) * | 2016-05-19 | 2019-01-25 | 深圳市越疆科技有限公司 | A kind of robot, rotary measurement device and method |
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