CN102636194A - Orthogonal sine and cosine axial angle encoder signal detecting and converting circuit - Google Patents
Orthogonal sine and cosine axial angle encoder signal detecting and converting circuit Download PDFInfo
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- CN102636194A CN102636194A CN2012101229790A CN201210122979A CN102636194A CN 102636194 A CN102636194 A CN 102636194A CN 2012101229790 A CN2012101229790 A CN 2012101229790A CN 201210122979 A CN201210122979 A CN 201210122979A CN 102636194 A CN102636194 A CN 102636194A
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Abstract
The invention relates to an orthogonal sine and cosine axial angle encoder signal detecting and converting circuit, comprising a singlechip module, an interval discriminating circuit and an encoder. The circuit can convert an orthogonal sine and cosine wave axial angle signal value output by the encoder into a pulse train signal used for calculating rotating speed and a position of a motor. The singlechip module discriminates a signal output by the circuit according to signal amplitude and an interval of the encoder, an angle value is calculated, if the calculated angle value is positioned at the first half part of a period of a square wave pulse signal, a high level is output, otherwise, a low level is output when the calculated angle value is arranged at a second half part of the period of the square wave pulse signal, and thus an orthogonal pulse train corresponding to a sine and cosine signal is formed. An angle is calculated by adopting a straight line linear function approximation method within the margin of an error. The circuit disclosed by the invention is applicable to feedback and acquisition of running speed and position information of the motor of a servo system and has the characteristics of few occupied computer resource, low hardware cost, fast detection and conversion speed and high accuracy.
Description
Technical field
The present invention relates to a kind of quadrature just, cosine shaft-position encoder input and change-over circuit, belong to servomotor control technology field.
Background technology
Servo-drive system is called servomechanism again, needs to detect in real time the relative position and the variation thereof of rotor and rotor and stator, and the accuracy of detection of rotor-position has determined the servomotor control performance.In recent years, just, cosine wave signal scrambler and advantage that can obtain high-accuracy speed and position detection accuracy cheap relatively with its cost increases in the application of high accuracy servo system gradually.Generally; The signal of such scrambler is through optical slot or adopt the Hall magnetic cell to obtain; Its original signal be rotor angle location just, cosine function, just, phase differential 90 degree between the cosine, through using impulse meter to measure sine or cosine wave (CW) quantity obtains angle value; But motor whenever turns around and can only obtain the umber of pulse equal with sinusoidal wave wave number, thereby accuracy of detection is lower.For improving the speed and the position detection accuracy of sinusoidal signal scrambler, make it suitable to the high-performance servo-drive system, many detections and change-over circuit and method are able to use; But serve as the control core generally with DSP, FPGA; The periphery also need dispose big storage unit, and hardware cost is high, and calculated amount is big.
Summary of the invention
The purpose of this invention is to provide a kind of be applicable to servo-drive system, cheap, cost performance is high, detection and slewing rate is fast, precision is high quadrature just, cosine shaft-position encoder input and change-over circuit.
Quadrature of the present invention just, cosine shaft-position encoder input and change-over circuit, comprising: one-chip computer module, interval judging circuit and scrambler; Interval judging circuit is made up of interval judging circuit of sinusoidal signal and the interval judging circuit of cosine signal; The sinusoidal signal of scrambler output links to each other with the first input and output I/O mouth of one-chip computer module and the signal input part of the interval judging circuit of sinusoidal signal respectively, and the cosine signal of scrambler output links to each other with the second input and output I/O mouth of one-chip computer module and the signal input part of the interval judging circuit of cosine signal respectively; The wayside signaling of the interval judging circuit output of sinusoidal signal links to each other with the 3rd input and output I/O mouth of one-chip computer module; The wayside signaling of the interval judging circuit output of cosine signal links to each other with the 4th input and output I/O mouth of one-chip computer module, and the 5th input and output I/O mouth of one-chip computer module is the output terminal of orthogonal pulses row;
The interval judging circuit of above-mentioned sinusoidal signal comprises first computing amplification chip, the first voltage comparable chip and corresponding peripheral cell; 2 pin of chip are amplified in first computing and an end of resistance R 1, resistance R 2 and resistance R 101 connects altogether; 3 pin that chip is amplified in first computing link to each other with an end of resistance R 3; The other end of resistance R 3 links to each other with an end of capacitor C 1 and ground connection; The other end of capacitor C 1 links to each other with the other end of resistance R 1, and this tie point is the signal input part of the interval judging circuit of sinusoidal signal; The other end of resistance R 101 connects dc offset voltage VB; One end common phase of the negative pole of 1 pin of resistance R 2 other ends and first computing amplification chip and the positive pole of diode D1, diode D2, an end, resistance R 14 and the resistance R 9 of resistance R 7 connects; 4,11 pin that chip is amplified in first computing are connected to respectively+15V ,-15V voltage; The negative pole of diode D1 links to each other with DC voltage VCC with an end of resistance R 8; The positive pole of diode D2 links to each other with ground, and the other end of resistance R 8 links to each other with an end of resistance R 12 and 7 pin of the first voltage comparable chip, and the other end of resistance R 12 links to each other with an end of resistance R 11 and 5 pin of the first voltage comparable chip; The other end of resistance R 11 links to each other with an end of resistance R 13 and 9 pin of the first voltage comparable chip; The other end of resistance R 13 links to each other with ground, and the other end of resistance R 7 links to each other with 6 pin of the first voltage comparable chip and an end of resistance R 4, and the other end of resistance R 4 links to each other with the positive pole of diode D3; The negative pole of diode D3 links to each other with 1 pin of the first voltage comparable chip, an end of resistance R 5 and an end of resistance R 6; The other end of resistance R 5 is connected to+15V voltage, and the other end of resistance R 6 links to each other with the positive pole of diode D5 and the negative pole of diode D4, and this tie point links to each other with the 3rd input and output I/O mouth of one-chip computer module; The other end of resistance R 9 links to each other with 4 pin of the first voltage comparable chip and an end of resistance R 15; The other end of resistance R 15 links to each other with the positive pole of diode D6; The negative pole of diode D6 links to each other with 2 pin of the first voltage comparable chip, an end of resistance R 16 and an end of resistance R 17; The other end of resistance R 16 is connected to+15V voltage, and the other end of resistance R 17 links to each other with the positive pole of diode D7 and the negative pole of diode D8, and this tie point links to each other with the 3rd input and output I/O mouth of one-chip computer module; The other end of resistance R 14 links to each other with 8 pin of the first voltage comparable chip and an end of resistance R 10; The other end of resistance R 10 links to each other with the positive pole of diode D9; The negative pole of diode D9 links to each other with 14 pin of the first voltage comparable chip, an end of resistance R 18 and an end of resistance R 19; The other end of resistance R 18 is connected to+15V voltage, and the other end of resistance R 19 links to each other with the positive pole of diode D10 and the negative pole of diode D11, and this tie point links to each other with the 3rd input and output I/O mouth of one-chip computer module; 3,12 pin of the first voltage comparable chip are connected to respectively+15V ,-15V voltage;
The interval judging circuit of above-mentioned cosine signal comprises second computing amplification chip, the second voltage comparable chip and corresponding peripheral cell; Second computing amplify 2 pin and the resistance R 1 of chip ', resistance R 2 ' and resistance R 101 ' an end connect altogether; 3 pin that chip is amplified in second computing and resistance R 3 ' an end link to each other; Resistance R 3 ' the other end and capacitor C 1 ' an end link to each other and ground connection; Capacitor C 1 ' the other end and resistance R 1 ' the other end link to each other, this tie point is the signal input part of the interval judging circuit of cosine signal; Resistance R 101 ' the other end connect dc offset voltage VB; Resistance R 2 ' other end and second computing amplify the negative pole, resistance R 7 of positive pole, the diode D2 ' of 1 pin and the diode D1 ' of chip ' an end, resistance R 14 ' and resistance R 9 ' an end common phase connect; 4,11 pin that chip is amplified in second computing are connected to respectively+15V ,-15V voltage; The negative pole of diode D1 ' and resistance R 8 ' an end link to each other with DC voltage VCC; The positive pole of diode D2 ' links to each other with ground; Resistance R 8 ' the other end and resistance R 12 ' an end and 7 pin of the second voltage comparable chip link to each other; Resistance R 12 ' the other end and resistance R 11 ' an end and 5 pin of the second voltage comparable chip link to each other, resistance R 11 ' the other end and resistance R 13 ' an end and 9 pin of the second voltage comparable chip link to each other, resistance R 13 ' the other end link to each other with ground; Resistance R 7 ' the other end and the second voltage comparable chip 6 pin and resistance R 4 ' an end link to each other; Resistance R 4 ' the other end link to each other with the positive pole of diode D3 ', 1 pin of the negative pole of diode D3 ' and the second voltage comparable chip, resistance R 5 ' an end and resistance R 6 ' an end link to each other, resistance R 5 ' the other end be connected to+15V voltage; Resistance R 6 ' the other end link to each other with the positive pole of diode D5 ' and the negative pole of diode D4 ', this tie point links to each other with the 4th input and output I/O mouth of one-chip computer module; Resistance R 9 ' the other end and the second voltage comparable chip 4 pin and resistance R 15 ' an end link to each other; Resistance R 15 ' the other end link to each other with the positive pole of diode D6 '; 2 pin of the negative pole of diode D6 ' and the second voltage comparable chip, resistance R 16 ' an end and resistance R 17 ' an end link to each other; Resistance R 16 ' the other end be connected to+15V voltage; Resistance R 17 ' the other end link to each other with the positive pole of diode D7 ' and the negative pole of diode D8 ', this tie point links to each other with the 4th input and output I/O mouth of one-chip computer module; Resistance R 14 ' the other end and the second voltage comparable chip 8 pin and resistance R 10 ' an end link to each other; Resistance R 10 ' the other end link to each other with the positive pole of diode D9 '; 14 pin of the negative pole of diode D9 ' and the second voltage comparable chip, resistance R 18 ' an end and resistance R 19 ' an end link to each other; Resistance R 18 ' the other end be connected to+15V voltage; Resistance R 19 ' the other end link to each other with the positive pole of diode D10 ' and the negative pole of diode D11 ', this tie point links to each other with the 4th input and output I/O mouth of one-chip computer module; 3,12 pin of the second voltage comparable chip are connected to respectively+15V ,-15V voltage.
Interval judging circuit among the present invention be with just, cosine wave signal amplifies and adjustment after, by each interval angular width π/4 with each just, the cosine wave (CW) cycle [0,2 π] is divided into 8 intervals, and output can be used for differentiating interval high-low level signal.One-chip computer module is that the interval of π/4 is divided into N five equilibrium (N is a positive integer, and each is divided into a square-wave pulse signal cycle) with width, according to the signal amplitude of scrambler and the signal of interval judging circuit output, calculates corresponding angle value again.If the angle value that calculates is positioned at square-wave pulse signal cycle first half, then export high level, be positioned at semiperiod output low level then after opposite, thus form with just, the corresponding spike train of cosine signal.The calculating of angle is employed in the straight linear approximation to function method in the error allowed band.
Beneficial effect of the present invention is:
Quadrature of the present invention just, cosine shaft-position encoder input and change-over circuit hardware cost be low; It is few to take computational resource; Detect and slewing rate is fast, precision is high; Can conveniently be used to estimate band just, the run location of the rotor of cosine shaft-position encoder, sense of rotation and movement velocity are applicable to most servo-drive systems.Be specially adapted to velocity accuracy is detected the servo-drive system of having relatively high expectations, like high-precision numerical control machine worktable servo feed system, radar antenna automatic tracking system, photoelectricity precision tracking system, low speed servo system etc.
Description of drawings
Fig. 1 be quadrature just, the formation synoptic diagram of cosine shaft-position encoder input and change-over circuit.
Fig. 2 is the interval judging circuit figure of sinusoidal signal.
Fig. 3 is the interval judging circuit figure of cosine signal.
Fig. 4 one-chip computer module figure.
Fig. 5 just, the corresponding interval distribution plan of cosine function.
Fig. 6 orthogonal pulses row A, B export synoptic diagram, and wherein: a) figure is spike train A, and b) figure is spike train B.
Embodiment
Below in conjunction with instance and accompanying drawing implementation method of the present invention and principle are further specified.
With reference to Fig. 1, quadrature of the present invention just, cosine shaft-position encoder input and change-over circuit comprise: one-chip computer module 1, interval judging circuit 2 and scrambler 3; Interval judging circuit 2 is made up of interval judging circuit 2-1 of sinusoidal signal and the interval judging circuit 2-2 of cosine signal; The sinusoidal signal Y1 of scrambler 3 outputs links to each other with first input and output I/O mouth of one-chip computer module 1 and the signal input part of the interval judging circuit 2-1 of sinusoidal signal respectively, and the cosine signal Y2 of scrambler 3 outputs links to each other with second input and output I/O mouth of one-chip computer module 1 and the signal input part of the interval judging circuit 2-2 of cosine signal respectively; The wayside signaling of the interval judging circuit 2-1 output of sinusoidal signal links to each other with the 3rd input and output I/O mouth of one-chip computer module 1; The wayside signaling of the interval judging circuit 2-2 output of cosine signal links to each other with the 4th input and output I/O mouth of one-chip computer module 1, and the 5th input and output I/O mouth of one-chip computer module 1 is the output terminal of orthogonal pulses row A, B.
One-chip computer module adopts the C8051F330/1 single-chip microcomputer (see figure 4) of Cygnal company; This single-chip microcomputer has 17 I/O I/O pins; Each pin can be configured to analog or digital I/O I/O mouth, 1 16 digit counter, 1 10 A/D converter ADC.The first input and output I/O mouth is made up of the P1.7 pin of single-chip microcomputer in this instance; The second input and output I/O mouth is made up of the P1.6 pin of single-chip microcomputer; The 3rd input and output I/O mouth is made up of P1.0, P1.1, the P1.2 pin of single-chip microcomputer; The 4th input and output I/O mouth is made up of P1.3, P1.4, the P1.5 pin of single-chip microcomputer; The 5th input and output I/O mouth is made up of P0.4, the P0.5 pin of single-chip microcomputer.
The interval judging circuit of sinusoidal signal is as shown in Figure 2, comprises first computing amplification chip U1, the first voltage comparable chip U2 and corresponding peripheral cell; 2 pin of chip U1 are amplified in first computing and an end of resistance R 1, resistance R 2 and resistance R 101 connects altogether; 3 pin that chip U1 is amplified in first computing link to each other with an end of resistance R 3; The other end of resistance R 3 links to each other with an end of capacitor C 1 and ground connection; The other end of capacitor C 1 links to each other with the other end of resistance R 1, and this tie point is the signal input part of the interval judging circuit of sinusoidal signal; The other end of resistance R 101 connects dc offset voltage VB; One end common phase of the negative pole of 1 pin of resistance R 2 other ends and first computing amplification chip U1 and the positive pole of diode D1, diode D2, an end, resistance R 14 and the resistance R 9 of resistance R 7 connects; 4,11 pin that chip U1 is amplified in first computing are connected to respectively+15V ,-15V voltage; The negative pole of diode D1 links to each other with DC voltage VCC with an end of resistance R 8; The positive pole of diode D2 links to each other with ground, and the other end of resistance R 8 links to each other with an end of resistance R 12 and 7 pin of the first voltage comparable chip U2, and the other end of resistance R 12 links to each other with an end of resistance R 11 and 5 pin of the first voltage comparable chip U2; The other end of resistance R 11 links to each other with an end of resistance R 13 and 9 pin of the first voltage comparable chip U2; The other end of resistance R 13 links to each other with ground, and the other end of resistance R 7 links to each other with 6 pin of the first voltage comparable chip U2 and an end of resistance R 4, and the other end of resistance R 4 links to each other with the positive pole of diode D3; The negative pole of diode D3 links to each other with 1 pin of the first voltage comparable chip U2, an end of resistance R 5 and an end of resistance R 6; The other end of resistance R 5 is connected to+15V voltage, and the other end of resistance R 6 links to each other with the positive pole of diode D5 and the negative pole of diode D4, and this tie point S1 links to each other with the 3rd input and output I/O mouth of one-chip computer module; The other end of resistance R 9 links to each other with 4 pin of the first voltage comparable chip U2 and an end of resistance R 15; The other end of resistance R 15 links to each other with the positive pole of diode D6; The negative pole of diode D6 links to each other with 2 pin of the first voltage comparable chip U2, an end of resistance R 16 and an end of resistance R 17; The other end of resistance R 16 is connected to+15V voltage, and the other end of resistance R 17 links to each other with the positive pole of diode D7 and the negative pole of diode D8, and this tie point S2 links to each other with the 3rd input and output I/O mouth of one-chip computer module; The other end of resistance R 14 links to each other with 8 pin of the first voltage comparable chip U2 and an end of resistance R 10; The other end of resistance R 10 links to each other with the positive pole of diode D9; The negative pole of diode D9 links to each other with 14 pin of the first voltage comparable chip U2, an end of resistance R 18 and an end of resistance R 19; The other end of resistance R 18 is connected to+15V voltage; The other end of resistance R 19 links to each other with the positive pole of diode D10 and the negative pole of diode D11, and this tie point S3 links to each other with the 3rd input and output I/O mouth of one-chip computer module; 3,12 pin of the first voltage comparable chip U2 are connected to respectively+15V ,-15V voltage.
The interval judging circuit of cosine signal is as shown in Figure 3, comprises that chip U1 ' is amplified in second computing, the second voltage comparable chip U2 ' reaches corresponding peripheral cell; Second computing amplify 2 pin and the resistance R 1 of chip U1 ' ', resistance R 2 ' and resistance R 101 ' an end connect altogether; 3 pin that chip U1 ' is amplified in second computing and resistance R 3 ' an end link to each other; Resistance R 3 ' the other end and capacitor C 1 ' an end link to each other and ground connection; Capacitor C 1 ' the other end and resistance R 1 ' the other end link to each other, this tie point is the signal input part of the interval judging circuit of cosine signal; Resistance R 101 ' the other end connect dc offset voltage VB; Resistance R 2 ' other end and second computing amplify the negative pole, resistance R 7 of positive pole, the diode D2 ' of 1 pin and the diode D1 ' of chip U1 ' ' an end, resistance R 14 ' and resistance R 9 ' an end common phase connect; 4,11 pin that chip U1 ' is amplified in second computing are connected to respectively+15V ,-15V voltage; The negative pole of diode D1 ' and resistance R 8 ' an end link to each other with DC voltage VCC; The positive pole of diode D2 ' links to each other with ground; Resistance R 8 ' the other end and resistance R 12 ' an end and 7 pin of the second voltage comparable chip U2 ' link to each other; Resistance R 12 ' the other end and resistance R 11 ' an end and 5 pin of the second voltage comparable chip U2 ' link to each other, resistance R 11 ' the other end and resistance R 13 ' an end and 9 pin of the second voltage comparable chip U2 ' link to each other, resistance R 13 ' the other end link to each other with ground; Resistance R 7 ' the other end and the second voltage comparable chip U2 ' 6 pin and resistance R 4 ' an end link to each other; Resistance R 4 ' the other end link to each other with the positive pole of diode D3 ', 1 pin of the negative pole of diode D3 ' and the second voltage comparable chip U2 ', resistance R 5 ' an end and resistance R 6 ' an end link to each other, resistance R 5 ' the other end be connected to+15V voltage; Resistance R 6 ' the other end link to each other with the positive pole of diode D5 ' and the negative pole of diode D4 ', this tie point S1 ' links to each other with the 4th input and output I/O mouth of one-chip computer module; Resistance R 9 ' the other end and the second voltage comparable chip U2 ' 4 pin and resistance R 15 ' an end link to each other; Resistance R 15 ' the other end link to each other with the positive pole of diode D6 '; 2 pin of the negative pole of diode D6 ' and the second voltage comparable chip U2 ', resistance R 16 ' an end and resistance R 17 ' an end link to each other; Resistance R 16 ' the other end be connected to+15V voltage; Resistance R 17 ' the other end link to each other with the positive pole of diode D7 ' and the negative pole of diode D8 ', this tie point S2 ' links to each other with the 4th input and output I/O mouth of one-chip computer module; Resistance R 14 ' the other end and the second voltage comparable chip U2 ' 8 pin and resistance R 10 ' an end link to each other; Resistance R 10 ' the other end link to each other with the positive pole of diode D9 '; 14 pin of the negative pole of diode D9 ' and the second voltage comparable chip U2 ', resistance R 18 ' an end and resistance R 19 ' an end link to each other; Resistance R 18 ' the other end be connected to+15V voltage; Resistance R 19 ' the other end link to each other with the positive pole of diode D10 ' and the negative pole of diode D11 ', this tie point S3 ' links to each other with the 4th input and output I/O mouth of one-chip computer module; 3,12 pin of the second voltage comparable chip U2 ' are connected to respectively+15V ,-15V voltage.
Second computing amplification chip that first computing in the interval judging circuit of sinusoidal signal is amplified in chip and the interval judging circuit of cosine signal all adopts the TL084 chip; The second voltage comparable chip in first voltage comparable chip in the interval judging circuit of sinusoidal signal and the interval judging circuit of cosine signal all adopts the LM339 chip
Just/and the threshold voltage of the interval judging circuit of cosine signal obtains by electric resistance partial pressure, and the diode in the circuit plays amplitude limit and protective effect.Interval judging circuit according to just, the size output high-low level composite signal of cosine signal amplitude, and input single-chip microcomputer.
Interval judging circuit principle of work (referring to table 1): each just, the cosine wave (CW) cycle [0,2 π] can be divided into 8 intervals (as shown in Figure 5), and each interval width is π/4.In the table 1 the 1-4 behavior just, cosine signal y
1, y
2The corresponding relation of value and interval number and angle.The quadrature of scrambler output just, cosine signal values is adjusted into Y behind computing circuit
1=(VCC/2) sin θ+VCC/2 and Y
2=(VCC/2) cos θ+VCC/2.The threshold values of voltage comparable chip is made as respectively in
corresponding diagram 2 to being a ', b ', c ' 3 points among a, b, 3 of c and Fig. 3; (wherein a be resistance R 8, with the 7 pin tie points of resistance R 12 and the first voltage comparable chip U2; B is the 5 pin tie points of resistance R 11 and the resistance R 12 and the first voltage comparable chip U2, and c is the 9 pin tie points of resistance R 11 and the resistance R 13 and the first voltage comparable chip U2; A ' be resistance R 8 ' with resistance R 12 ' and 7 pin tie points of the second voltage comparable chip U2 '; B ' be resistance R 11 ' with resistance R 12 ' and 5 pin tie points of the second voltage comparable chip U2 ', c ' be resistance R 11 ' with resistance R 13 ' the reach 9 pin tie points of the second voltage comparable chip U2 ').Y in a, b, 3 correspondence table 1 of c
1Numerical value be respectively
Y in a ', b ', 3 correspondence table 1 of c '
2Numerical value be respectively
When signal value surpasses threshold values, pairing voltage comparable chip output low level, when signal value is no more than threshold values, voltage comparable chip output high level.Interval judging circuit output level of table 1 the 5th, the 6th behavior and interval number corresponding relation, " 1 " expression high level in the table, " 0 " expression low level.
The interval judging circuit principle of table 1
The one-chip computer module principle of work is following:
Motor when rotation, the scrambler output orthogonal just, cosine signal, A/D converter carries out real-time sampling to signal among the single-chip microcomputer C8051F330/1, will sample the signal function value
Wherein A is the encoder output amplitude, and B is a side-play amount, after standardization calculates, obtains
According to the interval of interval judgement circuit number, from just, choose among Fig. 5 the segment of curve shown in the thick black line the cosine wave signal as the source value of conversion of signals.As shown in Figure 6; Interval [0, π/4] is divided into N five equilibrium (N is a positive integer), and each is divided into a square-wave pulse cycle; The angle value that calculates according to the corresponding linear function of table 2 is positioned at the cycle first half; Then export high level, the opposite later half cycle is a low level, thereby forms spike train A (seeing that Fig. 6 a)).Suppose that the angle of being calculated by signal value is θ
m, make M=8N θ
m/ π rounds M, if the result be 0 or even number then export high level, if odd number output low level then.And for spike train B (seeing Fig. 6 b)), only need 1/4 recurrence interval of reach between the pairing periodic region of A pulse is got final product, promptly get M
1=M+0.5 is then to M
1Round, equifinality be 0 or even number then export high level, if M
1Be odd number output low level then.
Table 2 interval and corresponding linear function
Linear function is following:
y＝kθ (1)
y＝-k(θ--π/2) (2)
y＝-k(θ-π) (3)
y＝k(θ-3π/2) (4)
y＝k(θ-2π) (5)
Angle value calculate to adopt by the corresponding employing approximate linear function method of table 2, below the error of pairing approximation do down analysis.The sinusoidal signal function is y among Fig. 6
1=sin θ, linear function y=k θ, k=si n (π/4)/(π/4) 0.9002 makes Δ y=y
1-y, in θ=[0, π/4] interval, Δ y maximal value is 0.02988, this moment θ=0.4504 radian, y
1=0.4352, y=0.4054.At this, make y=y
1=0.4352; Can calculate corresponding angle among the substitution formula y=k θ is 0.4834 radian; That is to say in θ=[0, π/4] interval with will just, the conference of the words that are similar to linear linear function y of cosine function produces the error of 0.03 radian, the positive integer that need get N≤(π/4)/0.03 ≈ 26.2; The approximate error that produces is just in the periodic regime of a pulse signal; Just error can be ignored less than the accuracy of detection of whole sensor, but adopts linear linear function to calculate the very big shortcut calculation of Angle Method.According to top method, establish rotor turn around scrambler output just, the cosine wave signal wave number is K, then can export the square-wave pulse signal of 8*KN number in this algorithm one circle.The K of general scrambler is between 100～1000, and the spike train of circuit output can reach 20800～208000 umber of pulse revolutions, can satisfy the detection requirement of high accuracy servo system fully.
Claims (1)
- Quadrature just, cosine shaft-position encoder input and change-over circuit, it is characterized in that comprising: one-chip computer module (1), interval judging circuit (2) and scrambler (3); Interval judging circuit (2) is made up of interval judging circuit (2-1) of sinusoidal signal and the interval judging circuit of cosine signal (2-2); The sinusoidal signal (Y1) of scrambler (3) output links to each other with the first input and output I/O mouth of one-chip computer module (1) and the signal input part of the interval judging circuit of sinusoidal signal (2-1) respectively, and the cosine signal (Y2) of scrambler (3) output links to each other with the second input and output I/O mouth of one-chip computer module (1) and the signal input part of the interval judging circuit of cosine signal (2-2) respectively; The wayside signaling of the interval judging circuit of sinusoidal signal (2-1) output links to each other with the 3rd input and output I/O mouth of one-chip computer module (1); The wayside signaling of the interval judging circuit of cosine signal (2-2) output links to each other with the 4th input and output I/O mouth of one-chip computer module (1), and the 5th input and output I/O mouth of one-chip computer module (1) is the output terminal of orthogonal pulses row (A), (B);The interval judging circuit of above-mentioned sinusoidal signal comprises first computing amplification chip (U1), first voltage comparable chip (U2) and the corresponding peripheral cell; 2 pin of chip (U1) are amplified in first computing and an end of resistance R 1, resistance R 2 and resistance R 101 connects altogether; 3 pin that chip (U1) is amplified in first computing link to each other with an end of resistance R 3; The other end of resistance R 3 links to each other with an end of capacitor C 1 and ground connection; The other end of capacitor C 1 links to each other with the other end of resistance R 1, and this tie point is the signal input part of the interval judging circuit of sinusoidal signal; The other end of resistance R 101 connects dc offset voltage VB; One end common phase of the negative pole of 1 pin of resistance R 2 other ends and first computing amplification chip (U1) and the positive pole of diode D1, diode D2, an end, resistance R 14 and the resistance R 9 of resistance R 7 connects; 4,11 pin that chip (U1) is amplified in first computing are connected to respectively+15V ,-15V voltage; The negative pole of diode D1 links to each other with DC voltage VCC with an end of resistance R 8; The positive pole of diode D2 links to each other with ground, and the other end of resistance R 8 links to each other with an end of resistance R 12 and 7 pin of the first voltage comparable chip (U2), and the other end of resistance R 12 links to each other with an end of resistance R 11 and 5 pin of the first voltage comparable chip (U2); The other end of resistance R 11 links to each other with an end of resistance R 13 and 9 pin of the first voltage comparable chip (U2); The other end of resistance R 13 links to each other with ground, and the other end of resistance R 7 links to each other with 6 pin of the first voltage comparable chip (U2) and an end of resistance R 4, and the other end of resistance R 4 links to each other with the positive pole of diode D3; The negative pole of diode D3 links to each other with 1 pin of the first voltage comparable chip (U2), an end of resistance R 5 and an end of resistance R 6; The other end of resistance R 5 is connected to+15V voltage, and the other end of resistance R 6 links to each other with the positive pole of diode D5 and the negative pole of diode D4, and this tie point (S1) links to each other with the 3rd input and output I/O mouth of one-chip computer module (1); The other end of resistance R 9 links to each other with 4 pin of the first voltage comparable chip (U2) and an end of resistance R 15; The other end of resistance R 15 links to each other with the positive pole of diode D6; The negative pole of diode D6 links to each other with 2 pin of the first voltage comparable chip (U2), an end of resistance R 16 and an end of resistance R 17; The other end of resistance R 16 is connected to+15V voltage; The other end of resistance R 17 links to each other with the positive pole of diode D7 and the negative pole of diode D8, and this tie point (S2) links to each other with the 3rd input and output I/O mouth of one-chip computer module (1); The other end of resistance R 14 links to each other with 8 pin of the first voltage comparable chip (U2) and an end of resistance R 10; The other end of resistance R 10 links to each other with the positive pole of diode D9; The negative pole of diode D9 links to each other with 14 pin of the first voltage comparable chip (U2), an end of resistance R 18 and an end of resistance R 19; The other end of resistance R 18 is connected to+15V voltage; The other end of resistance R 19 links to each other with the positive pole of diode D10 and the negative pole of diode D11, and this tie point (S3) links to each other with the 3rd input and output I/O mouth of one-chip computer module (1); 3,12 pin of the first voltage comparable chip (U2) are connected to respectively+15V ,-15V voltage;The interval judging circuit of above-mentioned cosine signal comprises second computing amplification chip (U1 ＇), the second voltage comparable chip (U2 ＇) and corresponding peripheral cell; 2 pin of chip (U1 ＇) are amplified in second computing and the end of resistance R 1 ＇, resistance R 2 ＇ and resistance R 101 ＇ connects altogether; 3 pin that chip (U1 ＇) is amplified in second computing link to each other with the end of resistance R 3 ＇; The other end of resistance R 3 ＇ links to each other with the end of capacitor C 1 ＇ and ground connection; The other end of capacitor C 1 ＇ links to each other with the other end of resistance R 1 ＇, and this tie point is the signal input part of the interval judging circuit of cosine signal; The other end of resistance R 101 ＇ connects dc offset voltage VB; The end common phase of the negative pole of 1 pin of the resistance R 2 ＇ other ends and second computing amplification chip (U1 ＇) and the positive pole of diode D1 ＇, diode D2 ＇, an end, resistance R 14 ＇ and resistance R 9 ＇ of resistance R 7 ＇ connects; 4,11 pin that chip (U1 ＇) is amplified in second computing are connected to respectively+15V ,-15V voltage; The negative pole of diode D1 ＇ links to each other with DC voltage VCC with the end of resistance R 8 ＇; The positive pole of diode D2 ＇ links to each other with ground; The other end of resistance R 8 ＇ links to each other with the end of resistance R 12 ＇ and 7 pin of the second voltage comparable chip (U2 ＇); The other end of resistance R 12 ＇ links to each other with the end of resistance R 11 ＇ and 5 pin of the second voltage comparable chip (U2 ＇), and the other end of resistance R 11 ＇ links to each other with the end of resistance R 13 ＇ and 9 pin of the second voltage comparable chip (U2 ＇), and the other end of resistance R 13 ＇ links to each other with ground; The other end of resistance R 7 ＇ links to each other with 6 pin of the second voltage comparable chip (U2 ＇) and the end of resistance R 4 ＇; The other end of resistance R 4 ＇ links to each other with the positive pole of diode D3 ＇, and the negative pole of diode D3 ＇ links to each other with 1 pin of the second voltage comparable chip (U2 ＇), the end of resistance R 5 ＇ and the end of resistance R 6 ＇, and the other end of resistance R 5 ＇ is connected to+15V voltage; The other end of resistance R 6 ＇ links to each other with the positive pole of diode D5 ＇ and the negative pole of diode D4 ＇, and this tie point (S1 ＇) links to each other with the 4th input and output I/O mouth of one-chip computer module (1); The other end of resistance R 9 ＇ links to each other with 4 pin of the second voltage comparable chip (U2 ＇) and the end of resistance R 15 ＇; The other end of resistance R 15 ＇ links to each other with the positive pole of diode D6 ＇; The negative pole of diode D6 ＇ links to each other with 2 pin of the second voltage comparable chip (U2 ＇), the end of resistance R 16 ＇ and the end of resistance R 17 ＇; The other end of resistance R 16 ＇ is connected to+15V voltage; The other end of resistance R 17 ＇ links to each other with the positive pole of diode D7 ＇ and the negative pole of diode D8 ＇, and this tie point (S2 ＇) links to each other with the 4th input and output I/O mouth of one-chip computer module (1); The other end of resistance R 14 ＇ links to each other with 8 pin of the second voltage comparable chip (U2 ＇) and the end of resistance R 10 ＇; The other end of resistance R 10 ＇ links to each other with the positive pole of diode D9 ＇; The negative pole of diode D9 ＇ links to each other with 14 pin of the second voltage comparable chip (U2 ＇), the end of resistance R 18 ＇ and the end of resistance R 19 ＇; The other end of resistance R 18 ＇ is connected to+15V voltage; The other end of resistance R 19 ＇ links to each other with the positive pole of diode D10 ＇ and the negative pole of diode D11 ＇, and this tie point (S3 ＇) links to each other with the 4th input and output I/O mouth of one-chip computer module (1); 3,12 pin of the second voltage comparable chip (U2 ＇) are connected to respectively+15V ,-15V voltage.
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| CN113206628B (en) * | 2021-06-10 | 2023-09-05 | 大连法斯特尔机电有限责任公司 | Device for precisely controlling rotating speed of alternating current servo motor and control method thereof |
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