CN101825481A - Method and device for applying encoder to count - Google Patents
Method and device for applying encoder to count Download PDFInfo
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- CN101825481A CN101825481A CN 201010104019 CN201010104019A CN101825481A CN 101825481 A CN101825481 A CN 101825481A CN 201010104019 CN201010104019 CN 201010104019 CN 201010104019 A CN201010104019 A CN 201010104019A CN 101825481 A CN101825481 A CN 101825481A
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Abstract
The invention relates to a method and a device for counting, belonging to the field of microprocessor unit control. The method for applying an encoder to count is characterized by comprising the following steps: setting output pulse signals of the encoder, when defining the angle rotating direction of the encoder to be forward or reverse toward the expected direction, storing the status words of the three paths of output pulse signals as standard status words, starting to count, receiving the three paths of pulse signals outputted by the encoder by a microprocessor unit (MCU), when detecting that triggering points occur on the pulse signals, reading out the levels of the three paths of pulse signals at the moment as real-time status words, carrying out comparison on the real-time status words with the standard status words, if being accordant, correspondingly making forward or reverse counting, and if not, ignoring without counting. The invention also discloses a device for applying the encoder to count, which applies the method. The invention utilizes the encoder to output three-phase pulse signals for counting, thus avoiding the phenomena that the signals drop, counting errors are generated along interference and the pulses are counted more or leaked and the like.
Description
Technical field
The present invention relates to a kind of method of counting and device, relate in particular to a kind of method and apparatus of applying encoder to count.
Background technology
Scrambler is a kind of the most common measurement of angle sensor, is equipped with other mechanical values such as all right Displacement Measurement of some physical constructions, all is widely used in all trades and professions.Scrambler is with the rotational angle in the rotating shaft, utilizes grating (magnetic grid) measuring technique to convert square-wave pulse output to, by the counting assembly of outside the output pulse is counted, and obtains and the corresponding digital quantity of tested angle.Generally all used up-down counter to count, along with the development and the maturation of microprocessor technology, we can omit counter circuit fully, directly use microprocessor to count in the past.But when reality is used, tend to the degree of accuracy that occurrence count is inaccurate and some waveform disturbing effects are counted, also must before measurement, stipulate the sense of rotation of a counting forward simultaneously in advance, make and use microprocessor and count and become not as using up-down counter to count simple and easily use, and the degree of accuracy of counting also differs and guarantees surely.
Summary of the invention
Technical matters to be solved by this invention provides a kind of method of applying encoder to count, solve to set in advance when utilizing microprocessor and scrambler to count now to cause and use inconvenience, and because some waveforms of scrambler disturb the not high defective of degree of accuracy that causes counting.
Technical scheme
The present invention proposes a kind of method of applying encoder to count, it is characterized in that comprising the steps:
Set the output pulse signal of scrambler, scrambler dephased two pulse signals A of output device and signal B simultaneously are set, wherein one road pulse signal A is anti-phase by anti-phase general is A, and exports simultaneously with above-mentioned two pulse signals;
When the rotary direction of angle of definition scrambler be past desired directions forward or reverse, more than the status word of three road output pulse signals store as the standard state word, when rotary encoder when wishing that the direction of counting is rotated forward or backwards forward or backwards, as the trigger point, the level of noting three road pulse signals this moment is as the standard state word with the rising edge of pulse signal A or A or negative edge;
Begin counting, microprocessor MCU receives three road pulse signals of scrambler output, when detecting pulse signal A or A and the trigger point occurs, the level of reading three road pulse signals this moment is as the real-time status word, described real-time status word and above-mentioned standard state word are compared, as meeting fully, the then corresponding counting forward or backwards of doing, as not in full conformity with, then ignore.
The phase differential of described pulse signal A and B is 90 degree, adopts negative edge with pulse signal A or A as the trigger point.
The invention allows for a kind of device of applying encoder to count, it is characterized in that: comprise that the output two-way has the scrambler of phase differential pulse signal, wherein one tunnel output signal of scrambler is carried out anti-phase phase inverter, and the synthetic follower that this inversion signal and described two pulse signals are exported simultaneously, the three-way output signal of described synthetic follower links to each other with three ports of microprocessor respectively, the middle fracture that has the output connecting microprocessor of positive and anti-phase pulse signal simultaneously, other one tunnel pulse signal with phase differential connects the I/O port of microprocessor, comprise the status word of level of the storer of status word of level of storage pulse signal and the pulse signal that relatively receives and the comparer that default status word compares in the described microprocessor, and the counter of counting according to comparator results.
Described scrambler adopts two-phase alternating binary coding device.
Beneficial effect
Method and apparatus of the present invention utilizes scrambler output three-phase pulse signal and detects counting, avoid one road signal negative edge wherein that utilizes the two-phase pulse signal to count to be prone to commonly used to disturb and produced counting error, or many meters of pulse or error of omission phenomenon during scrambler rotating conversion, and improved and determined now can not change the defective that direction is counted again after the rotating direction.
Description of drawings
Fig. 1 is the present invention two-phase output pulse sequence figure commonly used now.
Fig. 2 is scrambler output three-phase pulse sequential chart of the present invention
Embodiment
Below in conjunction with specific embodiment, further set forth the present invention.
We are example with the raster pattern two-phase alternating binary coding device of 2048 pulses of every circle output, so-called two-phase promptly simultaneously phase difference output be 90 ° of two pulse signals, two-wayly can carry out rotating exactly and carry out positive and negative counting, its output pulse sequence figure sees Fig. 2.Pulse be the A pulse obtain by a negative circuit with the opposite signal of A pulse logic, the B pulse be with the A pulse phase difference be 90 ° of pulse signals.During actual the use, adopt the Atmel89C52 microprocessor to carry out the step-by-step counting of scrambler, A and A pulse are given burst transmissions on CPU external interrupt 0 and external interrupt 1 port (INT0, INT1) by the light idol respectively, and the B pulse receives with an I/O mouth.During programming, at first in E2ROM, store the positive-negative rotation state word of definition by the phase sequence measurement function, just earlier along the direction rotary encoder of wishing counting forward, the negative edge of A pulse triggers external interrupt 0, the level that externally interrupts reading in 0 service routine A, A, B pulse is and just changes status word, again along the direction rotary encoder of wishing counting in reverse, the negative edge of pulse triggers external interrupt 1, and the level that externally interrupts reading in 1 service routine A, A, B pulse is the inverted status word.During actual count, if definition phase sequence 1 → 2 is for just changeing, when external interrupt 0 triggers, externally interrupt judging in 0 service routine level of A, A, B pulse, if be 011 (just changeing status word) then counter adds 1, be 010 invalid, promptly the A pulse negative edge of phase place 2 interrupts effectively, scrambler just changes; When external interrupt 1 triggers, judge this level equally, if be 101 (inverted status words) then counter subtracts 1, be 100 invalid, promptly the pulse A negative edge of phase place 2 interrupts effectively, the scrambler counter-rotating.If the definition 2 → 1 of phase sequence process of measurement is for just changeing, then just changeing status word is 010, and the inverted status word is 100, in 1 state A trigger action external interrupt 0, counter is added 1, in 1 state A trigger action external interrupt 1, counter is subtracted 1, and the interruption that other situations produce is invalid.
When general at present use microprocessor is counted scrambler, all be only to use A, B two-phase pulse, as shown in Figure 1.Must stipulate to add, subtract the sense of rotation of counting during programming earlier.Suppose definition phase sequence 1 → 2 for just changeing, when A phase pulse negative edge triggered interruption, the level of judgement B phase pulse interrupted if high level is then represented just changeing to trigger, and shown in phase sequence figure state 2, counter adds 1; If the level of B phase pulse is a low level, then the expression counter-rotating triggers and interrupts, and shown in phase sequence figure state 1, counter subtracts 1.Above-mentioned method of counting has bigger defective in some cases.At first be might many meters or count umber of pulse less, this situation occurs in when scrambler and is just going between 1 and 2, becomes counter-rotating and then subtracts 1 (leaking the meter pulse) in state 1 place's meeting more; Become in counter-rotating equally and can add 1 (counting pulse) more when just changeing again.If frequent changes sense of rotation then this situation can be brought very big counting error.When second kind of problem occurs in the negative edge triggering, a plurality of negative edges occur because preparing grating or undesired signal make in a pulse, rolling counters forward is made mistakes.The third situation is if can't determine the rotating direction when programming, then miscount can take place.
Adopt method of the present invention can overcome the problems referred to above fully, have the following advantages:
The many meters of pulse or leakage meter phenomenon when 1〉having avoided the rotating conversion;
If definition phase sequence 1 → 2 is forward, if just going to 2 and next state between the time, at first interrupt making counter add 1 in the triggering of 2 state A trailing edges, at this moment reverse and then interrupt making counter subtract 1 in 2 position A pulse-triggered, can the many meters of pulsing or leakage meter phenomenon.
2〉avoided because trailing edge disturbs the counting error that produces;
If definition phase sequence 1 → 2 is forward, the interfering signal of trailing edge occurs or when falling edge is shaken, adds 1 at A pulse trailing edge in the A of state 2 pulse, will subtract 1 at the trailing edge of A pulse, disturb or shake thereby eliminated;
3〉can set in the phase sequence that panel carry out rotating;
When programming, can determine earlier the positive and negative rotation direction, only need to pass through in use the phase sequence setting operation of panel, determine its direction of rotation.
Claims (4)
1. the method for an applying encoder to count is characterized in that comprising the steps:
Set the output pulse signal of scrambler, scrambler dephased two pulse signals A of output device and signal B simultaneously are set, wherein one road pulse signal A is anti-phase by anti-phase general is A, and exports simultaneously with above-mentioned two pulse signals;
When the rotary direction of angle of definition scrambler be past desired directions forward or reverse, more than the status word of three road output pulse signals store as the standard state word, when rotary encoder when wishing that the direction of counting is rotated forward or backwards forward or backwards, as the trigger point, the level of noting three road pulse signals this moment is as the standard state word with the rising edge of pulse signal A or A or negative edge;
Begin counting, microprocessor MCU receives three road pulse signals of scrambler output, when detecting pulse signal A or A and the trigger point occurs, the level of reading three road pulse signals this moment is as the real-time status word, described real-time status word and above-mentioned standard state word are compared, as meeting fully, the then corresponding counting forward or backwards of doing, as not in full conformity with, then ignore.
2. the method for applying encoder to count as claimed in claim 1 is characterized in that: the phase differential of described pulse signal A and B is 90 degree, adopts negative edge with pulse signal A or A as the trigger point.
3. device of using the applying encoder to count of the method for claim 1, it is characterized in that: comprise that the output two-way has the scrambler of phase differential pulse signal, wherein one tunnel output signal of scrambler is carried out anti-phase phase inverter, and the synthetic follower that this inversion signal and described two pulse signals are exported simultaneously, the three-way output signal of described synthetic follower links to each other with three ports of microprocessor respectively, the middle fracture that has the output connecting microprocessor of positive and anti-phase pulse signal simultaneously, other one tunnel pulse signal with phase differential connects the I/O port of microprocessor, comprise the status word of level of the storer of status word of level of storage pulse signal and the pulse signal that relatively receives and the comparer that default status word compares in the described microprocessor, and the counter of counting according to comparator results.
4. the device of applying encoder to count as claimed in claim 3 is characterized in that: described scrambler employing two-phase alternating binary coding device.
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| CN 201010104019 CN101825481B (en) | 2010-01-29 | 2010-01-29 | Method and device for applying encoder to count |
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| CN 201010104019 CN101825481B (en) | 2010-01-29 | 2010-01-29 | Method and device for applying encoder to count |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103308078A (en) * | 2012-03-15 | 2013-09-18 | 欧姆龙株式会社 | Rotary encoder and method of detecting abnormality of rotary encoder |
| CN103994781A (en) * | 2014-05-06 | 2014-08-20 | 盛铂科技（上海）有限公司 | Two-phase signal processing circuit of rotary encoder and signal processing method thereof |
| CN104133407A (en) * | 2014-08-01 | 2014-11-05 | 常州华达科捷光电仪器有限公司 | Counting device and method for incremental encoder |
| CN105676685A (en) * | 2016-01-05 | 2016-06-15 | 深圳市雷赛软件技术有限公司 | Method for feeding back initial absolute position of motor, apparatus and encoder frequency-dividing apparatus |
| CN107356274A (en) * | 2015-01-09 | 2017-11-17 | 杭州谷立电气技术有限公司 | The method that motor positioning is carried out using novel encoder structure |
| CN107449376A (en) * | 2017-09-15 | 2017-12-08 | 深圳大学 | A kind of steering wheel angle acquisition system in real time |
| CN110186488A (en) * | 2019-05-29 | 2019-08-30 | 合肥工业大学 | It is a kind of for improving the detection method of orthogonal coding rotary angle transmitter counting precision |
| CN112924716A (en) * | 2021-01-25 | 2021-06-08 | 武汉先同科技有限公司 | Digital direction discrimination method for improved two-phase encoder |
| CN113919472A (en) * | 2021-09-30 | 2022-01-11 | 广州思拓力测绘科技有限公司 | Counting mode based on incremental encoder and counting device thereof |
Family Cites Families (4)
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| JP2005283274A (en) * | 2004-03-29 | 2005-10-13 | Fujinon Corp | Position detector |
| JP4875889B2 (en) * | 2005-12-08 | 2012-02-15 | ハイデンハイン株式会社 | Encoder count error detection circuit and encoder count error detection method |
| CN2903920Y (en) * | 2006-05-12 | 2007-05-23 | 西安石油大学 | High precision photoelectric coding deep testing circuit |
| CN100445696C (en) * | 2006-06-02 | 2008-12-24 | 中国科学院长春光学精密机械与物理研究所 | Quasi absolute type photoelectric shaft-position encoder processing circuit |
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2010
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| CN103308078B (en) * | 2012-03-15 | 2017-04-26 | 欧姆龙株式会社 | Rotary encoder and method of detecting abnormality of rotary encoder |
| CN103308078A (en) * | 2012-03-15 | 2013-09-18 | 欧姆龙株式会社 | Rotary encoder and method of detecting abnormality of rotary encoder |
| CN105910629B (en) * | 2014-05-06 | 2018-01-12 | 盛铂科技（上海）有限公司 | A kind of rotary encoder biphase signaling process circuit and its signal processing method |
| CN105910629A (en) * | 2014-05-06 | 2016-08-31 | 盛铂科技（上海）有限公司 | Rotary encoder two-phase signal processing circuit and signal processing method thereof |
| CN103994781B (en) * | 2014-05-06 | 2016-11-16 | 盛铂科技（上海）有限公司 | A kind of rotary encoder biphase signaling processes circuit and signal processing method thereof |
| CN103994781A (en) * | 2014-05-06 | 2014-08-20 | 盛铂科技（上海）有限公司 | Two-phase signal processing circuit of rotary encoder and signal processing method thereof |
| CN104133407A (en) * | 2014-08-01 | 2014-11-05 | 常州华达科捷光电仪器有限公司 | Counting device and method for incremental encoder |
| CN107356274A (en) * | 2015-01-09 | 2017-11-17 | 杭州谷立电气技术有限公司 | The method that motor positioning is carried out using novel encoder structure |
| CN107356274B (en) * | 2015-01-09 | 2019-11-05 | 杭州谷立电气技术有限公司 | The method for carrying out motor positioning using coder structure |
| CN105676685A (en) * | 2016-01-05 | 2016-06-15 | 深圳市雷赛软件技术有限公司 | Method for feeding back initial absolute position of motor, apparatus and encoder frequency-dividing apparatus |
| CN107449376A (en) * | 2017-09-15 | 2017-12-08 | 深圳大学 | A kind of steering wheel angle acquisition system in real time |
| CN110186488A (en) * | 2019-05-29 | 2019-08-30 | 合肥工业大学 | It is a kind of for improving the detection method of orthogonal coding rotary angle transmitter counting precision |
| CN112924716A (en) * | 2021-01-25 | 2021-06-08 | 武汉先同科技有限公司 | Digital direction discrimination method for improved two-phase encoder |
| CN113919472A (en) * | 2021-09-30 | 2022-01-11 | 广州思拓力测绘科技有限公司 | Counting mode based on incremental encoder and counting device thereof |
| CN113919472B (en) * | 2021-09-30 | 2022-05-17 | 广州思拓力测绘科技有限公司 | Counting method and counting device based on incremental encoder |
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| CN101825481B (en) | 2011-10-12 |
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