CN102095431B - Digital converter of magnetic encoder - Google Patents
Digital converter of magnetic encoder Download PDFInfo
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- CN102095431B CN102095431B CN2010105646572A CN201010564657A CN102095431B CN 102095431 B CN102095431 B CN 102095431B CN 2010105646572 A CN2010105646572 A CN 2010105646572A CN 201010564657 A CN201010564657 A CN 201010564657A CN 102095431 B CN102095431 B CN 102095431B
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Abstract
The invention discloses a digital converter of a magnetic encoder, comprising a magnetic encoder, a signal processor, a phase-sensitive detector, a feedforward signal generator and a state observer. The signal processor caries out amplitude conditioning and analog-to-digital conversion to the output signal of the magnetic encoder; the phase-sensitive detector can generate an error signal containing phase information according to the output signal of the magnetic encoder and an angle estimation value output by the state observer; the feedforward signal generator calculates a feedforward angular velocity value needed by the state observer according to the output signal of the signal processor; and the state observer demodulates the angle and the angular velocity of a tested rotating device according to the error signal and the feedforward angular velocity value. The invention can greatly reduce the phase lag of the demodulated signal when the rotating device continuously rotates and has high demodulation accuracy and strong anti-interference capability.
Description
Technical field
The present invention relates to a kind of magnetic coder digital quantizer, more precisely, be meant that a kind of the realization carry out demodulation to magnetic coder output signal, and the magnetic coder that can in servo-control system, use (position transducer) digital quantizer.
Background technology
Magnetic coder is made up of linear Hall or magnetoresistive element, is the sensor that is used to measure the anglec of rotation.Simple in structure because of it, volume is little, cost is low, antijamming capability and adaptive capacity to environment are strong, in rotor position detection, has important status.
At present, the magnetic coder digital quantizer is a lot of to the demodulation scheme of signal, and using is arctangent cp cp operation scheme and angle following-up type conversion scheme the most widely.The arctangent cp cp operation scheme at first obtains angle information through arctangent cp cp operation, obtains angular velocity information through difference again, and this scheme is responsive to noise signal, and precision is relatively poor.Angle following-up type conversion scheme is made up of sine and cosine multiplier, error amplifier, phase-sensitive demodulator, counter, voltage controlled oscillator etc.; Through the predetermined angle estimated value; Utilize phase sensitive detector to draw the sine value of the difference of actual rotational angle value and estimated value; Through judging the positive and negative estimated value of regulating of this sine value, constitute closed loop, make estimated value approach actual value gradually.This scheme precision is not high, and has phase lag.
Summary of the invention
The purpose of this invention is to provide a kind of magnetic coder digital quantizer; This converter is through introducing a kind of second order state observer with feedforward; Not only can export the angle
that demodulates tested whirligig the signal in real time and angular velocity
but also can obviously improve tested whirligig rotating speed when changing continuously from magnetic coder, the phase lag of output angle and angular velocity signal.The present invention can be implemented in the high precision demodulation of speed change situation lower angle and angular velocity information, and output accuracy improves more than several times than conventional digital demodulator output accuracy.
A kind of magnetic coder digital quantizer of the present invention, it includes signal conditioner (3), phase sensitive detector (4), feed-forward signal generator (5) and state observer (6);
Signal conditioner (3) is made up of conditioner (31) and A/D converter (32); Conditioner (31) and A/D converter (32) are used for the analog sine V that receives
s(t) carry out amplitude conditioning, analog to digital conversion, output digital sine V
s(j); Conditioner (31) and A/D converter (32) are used for the simulation cosine V that receives
c(t) carry out amplitude conditioning, analog to digital conversion, output digital cosine V
c(j);
Phase sensitive detector (4) is made up of cosine generator (41), cosine generator (42), A multiplier (43), B multiplier (44), A totalizer (45); Cosine generator (41) is used to produce the angle estimated value
Cosine value
Forcing function generator (42) is used to produce the angle estimated value
Sine value
A multiplier (43) is with the digital sine V that receives
s(j) and cosine value
Multiply each other, export first intermediate quantity; B multiplier (44) is with the digital cosine V that receives
c(j) and sine value
Multiply each other, export second intermediate quantity; A totalizer (45) deducts second intermediate quantity with first intermediate quantity and obtains the error E (j) constantly at j;
Feed-forward signal generator (5) is made up of arctangent cp cp operation device (51), B totalizer (52), A condition storer (53), C multiplier (54), D totalizer (55), C totalizer (56), E multiplier (57), B status register (58); Arctangent cp cp operation device (51) is with the digital sine V that receives
s(j), digital cosine V
c(j) carry out arctangent cp cp operation, the estimated signal of output whirligig angle
B totalizer (52) is with the estimated signal of the whirligig degree that receives
Deduct the angle estimated value of the previous moment j-1 of A condition storer (53) record
Export the 3rd intermediate variable; The 3rd intermediate variable that C multiplier (54) will receive and the inverse in sampling period
Multiply each other, export the 4th intermediate variable
T representes the sampling period; The 4th intermediate variable that D multiplier (55) will receive and the first filter factor a
1Multiply each other, export the 5th intermediate variable; τ representes time constant filter; The 5th intermediate variable that C totalizer (56) will receive and the 6th intermediate variable addition, output feedforward magnitude of angular velocity
E multiplier (57) is according to the feedforward magnitude of angular velocity of the previous moment j-1 of B status register (58) record
With the second filter factor a
2Multiply each other, export the 6th intermediate variable;
State observer (6) is made up of angular velocity observer module (601) and angular observation device module (602);
Said angular velocity observer module (601) includes F multiplier (61), G multiplier (62), D totalizer (63), E totalizer (64), C status register (65); Be set with angular velocity observer gain coefficient K in the described F multiplier (61)
θ
Said angular observation device module (602) includes H multiplier (66), F totalizer (67), D status register (69), I multiplier (68), G totalizer (610), E status register (611); Be set with angular observation device gain coefficient K in the described H multiplier (66)
ω
F multiplier (61) is with error E (j) that receives and angular velocity observer gain coefficient K
θMultiply each other, export the 7th intermediate quantity; The 7th intermediate quantity and sampling period T that G multiplier (62) will receive multiply each other, and export the 8th intermediate quantity; D totalizer (63) is according to the feedback angular velocity estimated value of the previous moment j-1 of C status register (65) record
With the 9th intermediate quantity addition, export the 9th intermediate quantity; The feedforward angular velocity signal that E totalizer (64) produces feed-forward signal generator (5)
With the 9th intermediate quantity addition, export j magnitude of angular velocity constantly
H multiplier (66) is with error E (j) that receives and angular observation device gain coefficient K
ωMultiply each other, export the tenth intermediate quantity; F totalizer (67) is according to the angular velocity estimated value of the previous moment j-1 of D status register (69) record
With the tenth intermediate quantity addition, export the 11 intermediate quantity; The 11 intermediate quantity and sampling period T that I multiplier (68) will receive multiply each other, and export the 12 intermediate quantity; G totalizer (610) is according to the angle estimated value of the previous moment j-1 of E status register (611) record
With the 12 intermediate quantity addition, export j angle value constantly
The magnetic coder digital quantizer advantage that the present invention relates to is: (1) inlead sexual state observer, through rationally choosing gain coefficient, can obtain the position, angle and the angular velocity of tested whirligig in real time; (2) introduce the angular velocity feedforward, when the angular velocity that can significantly reduce tested whirligig changes continuously, the phase lag of state observer output angle and tach signal; (3) phase sensitive detector, state observer and feed-forward signal generator adopt the software code compiling to realize, make the digital quantizer demodulation accuracy high, and antijamming capability is strong.
Description of drawings
Fig. 1 is a structural principle block diagram of the present invention;
Fig. 2 is the theory diagram of signal conditioner of the present invention.
Fig. 3 is a phase sensitive detector theory diagram of the present invention.
Fig. 4 is a feed-forward signal generator theory diagram of the present invention.
Fig. 5 is a state observer theory diagram of the present invention.
In the drawings: 1. Rotating device 2. Magnetic encoder 3 signal conditioner 31. Conditioning circuit 32. Analog to digital conversion control 4 phase sensitive detector 41. cosine generator ? 42. sine generator ? 43.A 44.B multiplier multiplier 45. A adder 5. feedforward signal generator 51. arctangent calculator 52.B 53.A adder state memory 54.C multiplier 55.D multiplication device 56.C adder 57.E 58.B state memory multiplier 6. observer 601. velocity observer 602 angle observer 61.F multiplier 62.G multiplier 63.D adder 64.E adder 65.C state memory 66.H multiplier 67.F adder 68.I multiplier 69.D state memory 610.G adder ? 611.E state memory
Embodiment
To combine accompanying drawing and embodiment that the present invention is explained further details below.
The present invention is a kind of magnetic coder digital quantizer, mainly comprises signal conditioner, phase sensitive detector, state observer and feed-forward signal generator.Phase sensitive detector, state observer and feed-forward signal generator adopt the software code compiling to realize, are stored on the processor chips.Signal conditioner is exported signal with magnetic coder and is carried out amplitude conditioning, analog to digital conversion; Phase sensitive detector can be exported the angle value of signal and state observer output according to magnetic coder, generates the error signal that comprises phase information; The feed-forward signal generator draws the required feedforward velocity amplitude of state observer according to the output calculated signals of signal conditioner; State observer demodulates the position, angle and the angular velocity of tested whirligig according to above-mentioned error signal and feedforward velocity amplitude.
As shown in Figure 1, in the present invention, magnetic coder 2 is used for converting the angle position information of whirligig 1 output to analog sine V
s(t), simulation cosine V
c(t) signal output.V
s(t)=K
eSin θ, V
c(t)=K
eCos θ, K
eThe gain coefficient of expression magnetic coder 2, t representes measured body---in the measurement moment in the 1 rotor operation time of whirligig, θ representes measured body---angle that whirligig 1 rotor turns over.
The present invention is a kind of magnetic coder digital quantizer, and said magnetic coder digital quantizer is the analog sine V to magnetic coder 2 outputs
s(t) and simulation cosine V
c(t) information is carried out the device of conversion process.Magnetic coder digital quantizer of the present invention mainly includes signal condition module 3, phase sensitive detector 4, feed-forward signal generator 5 and state observer 6; Wherein phase sensitive detector 4, feed-forward signal generator 5 and state observer 6 adopt the composing software code storage to go up and realize in processor chips (being about to the composing software code according to realizing that function is divided into phase sensitive detector 4, feed-forward signal generator 5 and state observer 6).Said processor can be a dsp chip, like the TMS320 family chip.
In the present invention, as shown in Figure 2, signal condition module 3 is made up of conditioner 31 and A/D converter 32.Conditioner 31 in the signal condition module 3 is used for the analog sine V that receives with A/D converter 32
s(t) carry out amplitude conditioning, analog to digital conversion, output digital sine V
s(j);
In the present invention, as shown in Figure 3, phase sensitive detector 4 is made up of cosine generator 41, cosine generator 42, A multiplier 43, B multiplier 44, A totalizer 45; Under starting condition, angle estimated value
value that phase sensitive detector 4 receives is zero; If at current time, then angle estimated value
value of phase sensitive detector 4 receptions is
Phase sensitive detector 4 sine generator 42 for generating the estimated value of the angle
The sine value
A multiplier 43 in the phase sensitive detector 4 is with the digital sine V that receives
s(j) and cosine value
Multiply each other, export first intermediate quantity;
A totalizer 45 usefulness first intermediate quantity in the phase sensitive detector 4 deducts second intermediate quantity and obtains the error E (j) constantly at j.
In the present invention; As shown in Figure 4, feed-forward signal generator 5 is divided from the function that realizes and is made up of arctangent cp cp operation device 51, B totalizer 52, A condition storer 53, C multiplier 54, D totalizer 55, C totalizer 56, E multiplier 57, B status register 58;
Arctangent cp cp operation device 51 in the feed-forward signal generator 5 is with the digital sine V that receives
s(j), digital cosine V
c(j) carry out arctangent cp cp operation, the estimated signal of output position, whirligig angle
A condition storer 53 in the feed-forward signal generator 5 is used to put down in writing the previous moment j-1 angle location estimation value
of (or claiming that j-1 constantly)
The 3rd intermediate variable that C multiplier 54 in the feed-forward signal generator 5 will receive and the inverse in sampling period
multiply each other, and export the 4th intermediate variable
T and represent the sampling period;
The 4th intermediate variable that D multiplier 55 in the feed-forward signal generator 5 will receive and first filter coefficient alpha
1Multiply each other, export the 5th intermediate variable;
E multiplier 57 in the feed-forward signal generator 5 is according to the feedforward magnitude of angular velocity of the previous moment j-1 of B status register 58 records
With second filter coefficient alpha
2Multiply each other, export the 6th intermediate variable; First filter coefficient alpha
1With second filter coefficient alpha
2Satisfy α
1+ α
2=1;
The 5th intermediate variable that C totalizer 56 in the feed-forward signal generator 5 will receive and the 6th intermediate variable addition, output feedforward magnitude of angular velocity
In the present invention, as shown in Figure 5, state observer 6 is divided by angular velocity observer module 601 and angular observation device module 602 from the function that realizes and is formed; In the present invention, angular velocity observer module 601 has constituted a feed-forward type second order state observer with angular observation device module 602.
Said angular velocity observer module 601 includes F multiplier 61, G multiplier 62, D totalizer 63, E totalizer 64, C status register 65; Be set with angular velocity observer gain coefficient K in the described F multiplier 61
θ
Said angular observation device module 602 includes H multiplier 66, F totalizer 67, D status register 69, I multiplier 68, G totalizer 610, E status register 611; Be set with angular observation device gain coefficient K in the described H multiplier 66
ω
F multiplier 61 in the state observer 6 is with error E (j) that receives and angular velocity observer gain coefficient K
θMultiply each other, export the 7th intermediate quantity;
The 7th intermediate quantity and sampling period T that G multiplier 62 in the state observer 6 will receive multiply each other, and export the 8th intermediate quantity;
C status register 65 in the state observer 6 is used to put down in writing the feedback angular velocity estimated value
of previous moment j-1
D totalizer 63 in the state observer 6 is exported the 9th intermediate quantity according to the feedback angular velocity estimated value
and the 9th intermediate quantity addition of the previous moment j-1 of C status register 65 records;
E totalizer 64 in the state observer 6 is exported j magnitude of angular velocity
constantly with feedforward angular velocity signal
and the 9th intermediate quantity addition that feed-forward signal generator 5 produces
H multiplier 66 in the state observer 6 is with error E (j) that receives and angular observation device gain coefficient K
ωMultiply each other, export the tenth intermediate quantity;
D status register 69 in the state observer 6 is used to put down in writing the angular velocity estimated value
of previous moment j-1
F totalizer 67 in the state observer 6 is exported the 11 intermediate quantity according to the angular velocity estimated value
and the tenth intermediate quantity addition of the previous moment j-1 of D status register 69 records;
The 11 intermediate quantity and sampling period T that I multiplier 68 in the state observer 6 will receive multiply each other, and export the 12 intermediate quantity;
E status register 611 in the state observer 6 is used to put down in writing the angle estimated value
of previous moment j-1
G totalizer 610 in the state observer 6 is exported j angle value
constantly according to the angle estimated value
and the 12 intermediate quantity addition of the previous moment j-1 of E status register 611 records
The mathematical form of each signal is represented as follows in the magnetic coder digital quantizer of the present invention:
The analog sinus signals of magnetic coder 2 outputs is designated as V
s(t)=K
eSin θ, simulation cosine signal are designated as V
c(t)=K
eCos θ; K
eThe gain coefficient of expression magnetic coder 2, t representes measured body---in the measurement moment in the 1 rotor operation time of whirligig, θ representes measured body---angle that whirligig 1 rotor turns over;
Analog sinus signals V when magnetic coder 2 outputs
s(t), simulation cosine signal V
c(t) in the entering signal conditioning module 3 after adjustment amplitude (accomplishing), mould/number conversion (accomplishing) by A/D converter 32 by conditioner 31, output digital sine V
s(j)=sin θ (j), digital cosine V
c(j)=and cos θ (j), j representes current time, j-1 representes previous moment.
As shown in Figure 3, cosine generator 41, forcing function generator 42 obtain error output
through computing according to the angle estimated value
of state observer 6 outputs with sine value
cosine value
that lookup table mode obtains the angle estimated value then
As shown in Figure 4, feed-forward signal generator 5 is used to produce the required feedforward rate signal of state observer, and the demodulation of magnetic coder being exported signal has following computing formula:
Obtain the rate signal
that feedovers constantly according to the simultaneous of above-mentioned three formulas at j
As shown in Figure 5, the angular velocity output valve of said angular velocity observer module 601 satisfies the angle output valve satisfied
of the said angular observation device module 602 of
In the present invention, designed feed-forward type second order state observer, through rationally choosing gain coefficient; Not only can export the position, angle that demodulates tested whirligig the signal from magnetic coder; Also can obtain angular velocity simultaneously, and demodulation accuracy is high, antijamming capability is strong.
Embodiment:
For ease of comparing the precision of the present invention and traditional demodulation method, carried out the semi-physical simulation experiment.Choose a slice TMS320 series DSP processor chips and cooperate DA output, as the two-way cosine and sine signal of magnetic coder simulator output.Process chip adopts another sheet TMS320 series DSP processor chips.
Suppose rotor with ω=12.6+8sin (6.28t) rad/s rotation speed operation, setting working time is 30s, and measurement time t is 20s.Said angular observation device constant K
θBe 500; Said angular velocity observer constant K
ωBe 62500.Sampling period T is 1ms.During system initialization, it is 0 that the zero of D status register 69 records is measured angular velocity estimated value
constantly; It is 0 that the zero of E status register 611 records is measured angle estimated value
constantly.When each data information acquisition was to processor, the maximum error value of the position, angle of magnetic coder digital quantizer of the present invention output was 0.00008 radian after demodulation, and the maximum error of angular velocity output is 0.032rad/s; In this example, when adopting angle following-up type method, position, angle output maximum error value is 0.00052 radian.Angular velocity output maximum error is 0.38rad/s.Through the contrast of parameter, magnetic coder digital quantizer output angle positional precision of the present invention has improved more than 5 times, and the angular velocity precision has improved about 10 times.
Claims (5)
1. a magnetic coder digital quantizer is characterized in that: include signal conditioner (3), phase sensitive detector (4), feed-forward signal generator (5) and state observer (6);
Signal conditioner (3) is made up of conditioner (31) and A/D converter (32); Conditioner (31) and A/D converter (32) are used for the analog sine V that receives
s(t) carry out amplitude conditioning, analog to digital conversion, output digital sine V
s(j); Conditioner (31) and A/D converter (32) are used for the simulation cosine V that receives
c(t) carry out amplitude conditioning, analog to digital conversion, output digital cosine V
c(j);
Phase sensitive detector (4) is made up of A cosine generator (41), B forcing function generator (42), A multiplier (43), B multiplier (44), A totalizer (45); A cosine generator (41) is used to produce the angle estimated value
Cosine value
B forcing function generator (42) is used to produce the angle estimated value
Sine value
A multiplier (43) is with the digital sine V that receives
s(j) and cosine value
Multiply each other, export first intermediate quantity; B multiplier (44) is with the digital cosine V that receives
c(j) and sine value
Multiply each other, export second intermediate quantity; A totalizer (45) deducts second intermediate quantity with first intermediate quantity and obtains the error E (j) constantly at j;
Feed-forward signal generator (5) is made up of arctangent cp cp operation device (51), B totalizer (52), A condition storer (53), C multiplier (54), D multiplier (55), C totalizer (56), E multiplier (57), B status register (58); Arctangent cp cp operation device (51) is with the digital sine V that receives
s(j), digital cosine V
c(j) carry out arctangent cp cp operation, the estimated signal of output whirligig angle
B totalizer (52) is with the estimated signal of the whirligig angle that receives
Deduct the estimated signal of angle of the previous moment j-1 of A condition storer (53) record
Export the 3rd intermediate variable; The 3rd intermediate variable that C multiplier (54) will receive and the inverse in sampling period
Multiply each other, export the 4th intermediate variable
T representes the sampling period; The 4th intermediate variable that D multiplier (55) will receive and first filter coefficient alpha
1Multiply each other, export the 5th intermediate variable; The 5th intermediate variable that C totalizer (56) will receive and the 6th intermediate variable addition, output feedforward magnitude of angular velocity
E multiplier (57) is according to the feedforward magnitude of angular velocity of the previous moment j-1 of B status register (58) record
With second filter coefficient alpha
2Multiply each other, export the 6th intermediate variable;
State observer (6) is made up of angular velocity observer module (601) and angular observation device module (602);
Said angular velocity observer module (601) includes F multiplier (61), G multiplier (62), D totalizer (63), E totalizer (64), C status register (65); Be set with angular velocity observer gain coefficient K in the described F multiplier (61)
θ
Said angular observation device module (602) includes H multiplier (66), F totalizer (67), D status register (69), I multiplier (68), G totalizer (610), E status register (611); Be set with angular observation device gain coefficient K in the described H multiplier (66)
ω
F multiplier (61) is with error E (j) that receives and angular velocity observer gain coefficient K
θMultiply each other, export the 7th intermediate quantity; The 7th intermediate quantity and sampling period T that G multiplier (62) will receive multiply each other, and export the 8th intermediate quantity; D totalizer (63) is according to the feedback angular velocity estimated value of the previous moment j-1 of C status register (65) record
With the 8th intermediate quantity addition, export the 9th intermediate quantity; The feedforward magnitude of angular velocity that E totalizer (64) produces feed-forward signal generator (5)
With the 9th intermediate quantity addition, export j magnitude of angular velocity constantly
H multiplier (66) is with error E (j) that receives and angular observation device gain coefficient K
ωMultiply each other, export the tenth intermediate quantity; F totalizer (67) is according to the magnitude of angular velocity of the previous moment j-1 of D status register (69) record
With the tenth intermediate quantity addition, export the 11 intermediate quantity; The 11 intermediate quantity and sampling period T that I multiplier (68) will receive multiply each other, and export the 12 intermediate quantity; G totalizer (610) is according to the angle estimated value of the previous moment j-1 of E status register (611) record
With the 12 intermediate quantity addition, export j angle value constantly
3. magnetic coder digital quantizer according to claim 1 is characterized in that: first filter coefficient alpha
1With second filter coefficient alpha
2Satisfy α
1+ α
2=1.
4. magnetic coder digital quantizer according to claim 1 is characterized in that: designed the linear condition observer, and added the angular velocity feedforward, through rationally choosing gain coefficient, from magnetic coder output signal, demodulated tested angle and angular velocity.
5. magnetic coder digital quantizer according to claim 1 is characterized in that: add the angular velocity feedforward in this converter, and in the time of can reducing tested whirligig rotating speed significantly and change continuously, the phase lag of state observer output angle and angular velocity signal.
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CN103776471A (en) * | 2014-01-28 | 2014-05-07 | 华中科技大学 | Magnetic encoder based on double synchronous rotation coordinate systems |
CN107796419A (en) * | 2016-08-31 | 2018-03-13 | 青岛农业大学 | Low-cost and high-precision digital composite shaft angle detector |
CN107782344B (en) * | 2016-08-31 | 2020-07-17 | 青岛农业大学 | Rotary transformer signal converter suitable for variable speed condition |
CN107091653A (en) * | 2017-06-19 | 2017-08-25 | 四川大学 | A kind of combinational algorithm magnetism encoder digital quantizer |
CN107402311B (en) * | 2017-07-11 | 2019-07-23 | 浙江零跑科技有限公司 | The soft decoding intelligent speed-measuring method of motor |
CN107505473B (en) * | 2017-07-11 | 2019-07-23 | 浙江零跑科技有限公司 | The soft decoding Computational Method of Velocity Measurement of motor based on phaselocked loop |
CN109506680A (en) * | 2018-11-23 | 2019-03-22 | 成都芯进电子有限公司 | A kind of absolute type magnetic angle encoder Digital Implementation framework |
CN112747664B (en) * | 2020-12-30 | 2022-06-17 | 苏州博古特智造有限公司 | Linear magnetic resistance position sensor |
CN115615467B (en) * | 2022-12-16 | 2023-04-07 | 国仪量子(合肥)技术有限公司 | Hall signal demodulation method and device |
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