CN102636194B - 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
- Publication number
- CN102636194B CN102636194B CN201210122979.0A CN201210122979A CN102636194B CN 102636194 B CN102636194 B CN 102636194B CN 201210122979 A CN201210122979 A CN 201210122979A CN 102636194 B CN102636194 B CN 102636194B
- Authority
- CN
- China
- Prior art keywords
- resistance
- pin
- diode
- chip
- voltage
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Transmission And Conversion Of Sensor Element Output (AREA)
- Measurement Of Resistance Or Impedance (AREA)
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 orthogonal just, cosine shaft-position encoder input and change-over circuit, belong to servomotor control technology field.
Background technology
Servo-drive system is called again servomechanism, needs to detect in real time relative position and the variation thereof of rotor and rotor and stator, and the accuracy of detection of rotor-position has determined servomotor control performance.In recent years, just, cosine wave signal scrambler advantage relatively cheap with its cost and that can obtain high-precision speed and position detection accuracy increases gradually in the application of high accuracy servo system.Under normal circumstances, the signal of such scrambler is by optical slot or adopt Hall magnetic cell to obtain, its original signal be rotor angle location just, cosine function, just, between cosine, phase differential 90 is spent, by using impulse meter measurement sine or cosine wave (CW) quantity to obtain angle value, but motor often turns around and can only obtain the umber of pulse equal with sinusoidal wave wave number, thereby accuracy of detection is lower.For improving speed and the position detection accuracy of sinusoidal signal scrambler, make it suitable to high-performance servo-drive system, many detections and change-over circuit and method are applied, but generally taking DSP, FPGA as control core, periphery also needs the larger storage unit of configuration, and hardware cost is high, and calculated amount is large.
Summary of the invention
The object of this invention is to provide be a kind ofly applicable to servo-drive system, cheap, cost performance is high, detection and slewing rate is fast, precision is high orthogonal just, cosine shaft-position encoder input and change-over circuit.
Of the present invention orthogonal 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 the interval judging circuit of sinusoidal signal and the interval judging circuit of cosine signal, the sinusoidal signal of scrambler output is connected with the signal input part of the interval judging circuit of sinusoidal signal with the first input and output I/O mouth of one-chip computer module respectively, and the cosine signal of scrambler output is connected with the signal input part of the interval judging circuit of cosine signal with the second input and output I/O mouth of one-chip computer module respectively; The wayside signaling of the interval judging circuit output of sinusoidal signal is connected 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 is connected 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 the first operation amplifier chip, the first voltage comparable chip and corresponding peripheral cell, one end of 2 pin of the first operation amplifier chip and resistance R 1, resistance R 2 and resistance R 101 connects altogether, 3 pin of the first operation amplifier chip are connected with one end of resistance R 3, the other end of resistance R 3 is connected with one end of capacitor C 1 and ground connection, the other end of capacitor C 1 is connected 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, 1 pin of resistance R 2 other ends and the first operation amplifier chip and the positive pole of diode D1, the negative pole of diode D2, one end of resistance R 7, one end common phase of resistance R 14 and resistance R 9 connects, 4 of the first operation amplifier chip, be connected to respectively+15V of 11 pin,-15V voltage, the negative pole of diode D1 is connected with DC voltage VCC with one end of resistance R 8, the positive pole of diode D2 is connected with ground, the other end of resistance R 8 is connected with one end of resistance R 12 and 7 pin of the first voltage comparable chip, the other end of resistance R 12 is connected with one end of resistance R 11 and 5 pin of the first voltage comparable chip, the other end of resistance R 11 is connected with one end of resistance R 13 and 9 pin of the first voltage comparable chip, the other end of resistance R 13 is connected with ground, the other end of resistance R 7 is connected with one end of resistance R 4 with 6 pin of the first voltage comparable chip, the other end of resistance R 4 is connected with the positive pole of diode D3, 1 pin of the negative pole of diode D3 and the first voltage comparable chip, one end of one end of resistance R 5 and resistance R 6 is connected, be connected to+15V of the other end of resistance R 5 voltage, the other end of resistance R 6 is connected with the positive pole of diode D5 and the negative pole of diode D4, this tie point is connected with the 3rd input and output I/O mouth of one-chip computer module, the other end of resistance R 9 is connected with one end of resistance R 15 with 4 pin of the first voltage comparable chip, the other end of resistance R 15 is connected with the positive pole of diode D6, the negative pole of diode D6 is connected with 2 pin, one end of resistance R 16 and one end of resistance R 17 of the first voltage comparable chip, be connected to+15V of the other end of resistance R 16 voltage, the other end of resistance R 17 is connected with the positive pole of diode D7 and the negative pole of diode D8, and this tie point is connected with the 3rd input and output I/O mouth of one-chip computer module, the other end of resistance R 14 is connected with one end of resistance R 10 with 8 pin of the first voltage comparable chip, the other end of resistance R 10 is connected with the positive pole of diode D9, the negative pole of diode D9 is connected with 14 pin, one end of resistance R 18 and one end of resistance R 19 of the first voltage comparable chip, be connected to+15V of the other end of resistance R 18 voltage, the other end of resistance R 19 is connected with the positive pole of diode D10 and the negative pole of diode D11, and this tie point is connected with the 3rd input and output I/O mouth of one-chip computer module, 3,12 be connected to respectively+15V of pin of the first voltage comparable chip ,-15V voltage,
The interval judging circuit of above-mentioned cosine signal comprises the second operation amplifier chip, second voltage comparable chip and corresponding peripheral cell, 2 pin of the second operation amplifier chip and resistance R 1 ', resistance R 2 ' and resistance R 101 ' one end connect altogether, 3 pin of the second operation amplifier chip and resistance R 3 ' one end be connected, resistance R 3 ' the other end and capacitor C 1 ' one end be connected and ground connection, capacitor C 1 ' the other end and resistance R 1 ' the other end be connected, 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, 1 pin of resistance R 2 ' other end and the second operation amplifier chip and the positive pole of diode D1 ', the negative pole of diode D2 ', resistance R 7 ' one end, resistance R 14 ' and resistance R 9 ' one end common phase connect, 4 of the second operation amplifier chip, be connected to respectively+15V of 11 pin,-15V voltage, the negative pole of diode D1 ' and resistance R 8 ' one end be connected with DC voltage VCC, the positive pole of diode D2 ' is connected with ground, resistance R 8 ' the other end and resistance R 12 ' one end and 7 pin of second voltage comparable chip be connected, resistance R 12 ' the other end and resistance R 11 ' one end and 5 pin of second voltage comparable chip be connected, resistance R 11 ' the other end and resistance R 13 ' one end and 9 pin of second voltage comparable chip be connected, resistance R 13 ' the other end with ground be connected, resistance R 7 ' the other end and second voltage comparable chip 6 pin and resistance R 4 ' one end be connected, resistance R 4 ' the other end be connected with the positive pole of diode D3 ', 1 pin of the negative pole of diode D3 ' and second voltage comparable chip, resistance R 5 ' one end and resistance R 6 ' one end be connected, resistance R 5 ' be connected to+15V of other end voltage, resistance R 6 ' the other end be connected with the positive pole of diode D5 ' and the negative pole of diode D4 ', this tie point is connected with the 4th input and output I/O mouth of one-chip computer module, resistance R 9 ' the other end and second voltage comparable chip 4 pin and resistance R 15 ' one end be connected, resistance R 15 ' the other end be connected with the positive pole of diode D6 ', 2 pin of the negative pole of diode D6 ' and second voltage comparable chip, resistance R 16 ' one end and resistance R 17 ' one end be connected, resistance R 16 ' be connected to+15V of other end voltage, resistance R 17 ' the other end be connected with the positive pole of diode D7 ' and the negative pole of diode D8 ', this tie point is connected with the 4th input and output I/O mouth of one-chip computer module, resistance R 14 ' the other end and second voltage comparable chip 8 pin and resistance R 10 ' one end be connected, resistance R 10 ' the other end be connected with the positive pole of diode D9 ', 14 pin of the negative pole of diode D9 ' and second voltage comparable chip, resistance R 18 ' one end and resistance R 19 ' one end be connected, resistance R 18 ' be connected to+15V of other end voltage, resistance R 19 ' the other end be connected with the positive pole of diode D10 ' and the negative pole of diode D11 ', this tie point is connected with the 4th input and output I/O mouth of one-chip computer module, 3,12 be connected to respectively+15V of pin of second voltage comparable chip ,-15V voltage.
Interval judging circuit in the present invention be by just, after cosine wave signal amplifies and adjusts, by angular width π/4 in each interval by each just, the cosine wave (CW) cycle [0,2 π] is divided into 8 intervals, and exports the low and high level signal that can be used for discriminate interval.The interval that one-chip computer module is π/4 by width is divided into N decile (N is a positive integer, each be divided into a square-wave pulse signal cycle), then according to the signal of the signal amplitude of scrambler and the output of interval judging circuit, calculates corresponding angle value.If the angle value calculating is positioned at square-wave pulse signal cycle first half, export high level, be positioned at output low level of semiperiod after contrary, thus form with just, the corresponding spike train of cosine signal.The calculating of angle adopts the straight linear approximation to function method in error allowed band.
Beneficial effect of the present invention is:
Of the present invention orthogonal just, cosine shaft-position encoder input and change-over circuit hardware cost low, take computational resource few, detect and slewing rate is fast, precision is high, can be conveniently for estimate band just, the run location of the rotor of cosine shaft-position encoder, sense of rotation and movement velocity, be applicable to most servo-drive systems.Be specially adapted to the servo-drive system higher to velocity accuracy testing requirement, as high-precision numerical control machine worktable servo feed system, radar antenna automatic tracking system, photoelectricity precision tracking system, low speed servo system etc.
Brief description of the drawings
Fig. 1 be orthogonal just, the formation schematic 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 schematic diagram, wherein: a) figure is spike train A, b) figure is spike train B.
Embodiment
Below in conjunction with example and accompanying drawing, implementation method of the present invention and principle are further illustrated.
With reference to Fig. 1, of the present invention orthogonal 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 the interval judging circuit 2-1 of sinusoidal signal and the interval judging circuit 2-2 of cosine signal, the sinusoidal signal Y1 that scrambler 3 is exported is connected with the signal input part of the interval judging circuit 2-1 of sinusoidal signal with the first input and output I/O mouth of one-chip computer module 1 respectively, and the cosine signal Y2 that scrambler 3 is exported is connected with the signal input part of the interval judging circuit 2-2 of cosine signal with the second input and output I/O mouth of one-chip computer module 1 respectively; The wayside signaling of the interval judging circuit 2-1 output of sinusoidal signal is connected 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 is connected 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 (seeing Fig. 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.In this example, the first input and output I/O mouth is made up of the P1.7 pin of single-chip microcomputer; 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 as shown in Figure 2, comprises the first operation amplifier chip U1, the first voltage comparable chip U2 and corresponding peripheral cell, one end of 2 pin of the first operation amplifier chip U1 and resistance R 1, resistance R 2 and resistance R 101 connects altogether, 3 pin of the first operation amplifier chip U1 are connected with one end of resistance R 3, the other end of resistance R 3 is connected with one end of capacitor C 1 and ground connection, the other end of capacitor C 1 is connected 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, resistance R 2 other ends and the first 1 pin of operation amplifier chip U1 and the positive pole of diode D1, the negative pole of diode D2, one end of resistance R 7, one end common phase of resistance R 14 and resistance R 9 connects, 4 of the first operation amplifier chip U1, be connected to respectively+15V of 11 pin,-15V voltage, the negative pole of diode D1 is connected with DC voltage VCC with one end of resistance R 8, the positive pole of diode D2 is connected with ground, the other end of resistance R 8 is connected with one end of resistance R 12 and 7 pin of the first voltage comparable chip U2, the other end of resistance R 12 is connected with one end of resistance R 11 and 5 pin of the first voltage comparable chip U2, the other end of resistance R 11 is connected with one end of resistance R 13 and 9 pin of the first voltage comparable chip U2, the other end of resistance R 13 is connected with ground, the other end of resistance R 7 is connected with one end of resistance R 4 with 6 pin of the first voltage comparable chip U2, the other end of resistance R 4 is connected with the positive pole of diode D3, 1 pin of the negative pole of diode D3 and the first voltage comparable chip U2, one end of one end of resistance R 5 and resistance R 6 is connected, be connected to+15V of the other end of resistance R 5 voltage, the other end of resistance R 6 is connected with the positive pole of diode D5 and the negative pole of diode D4, this tie point S1 is connected with the 3rd input and output I/O mouth of one-chip computer module, the other end of resistance R 9 is connected with one end of resistance R 15 with 4 pin of the first voltage comparable chip U2, the other end of resistance R 15 is connected with the positive pole of diode D6, the negative pole of diode D6 is connected with 2 pin, one end of resistance R 16 and one end of resistance R 17 of the first voltage comparable chip U2, be connected to+15V of the other end of resistance R 16 voltage, the other end of resistance R 17 is connected with the positive pole of diode D7 and the negative pole of diode D8, and this tie point S2 is connected with the 3rd input and output I/O mouth of one-chip computer module, the other end of resistance R 14 is connected with one end of resistance R 10 with 8 pin of the first voltage comparable chip U2, the other end of resistance R 10 is connected with the positive pole of diode D9, the negative pole of diode D9 is connected with 14 pin, one end of resistance R 18 and one end of resistance R 19 of the first voltage comparable chip U2, be connected to+15V of the other end of resistance R 18 voltage, the other end of resistance R 19 is connected with the positive pole of diode D10 and the negative pole of diode D11, and this tie point S3 is connected with the 3rd input and output I/O mouth of one-chip computer module, 3,12 the be connected to respectively+15V of pin of the first voltage comparable chip U2 ,-15V voltage.
The interval judging circuit of cosine signal as shown in Figure 3, comprises the second operation amplifier chip U1 ', second voltage comparable chip U2 ' and corresponding peripheral cell, 2 pin of the second operation amplifier chip U1 ' and resistance R 1 ', resistance R 2 ' and resistance R 101 ' one end connect altogether, 3 pin of the second operation amplifier chip U1 ' and resistance R 3 ' one end be connected, resistance R 3 ' the other end and capacitor C 1 ' one end be connected and ground connection, capacitor C 1 ' the other end and resistance R 1 ' the other end be connected, 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 the second 1 pin of operation amplifier chip U1 ' and the positive pole of diode D1 ', the negative pole of diode D2 ', resistance R 7 ' one end, resistance R 14 ' and resistance R 9 ' one end common phase connect, 4 of the second operation amplifier chip U1 ', be connected to respectively+15V of 11 pin,-15V voltage, the negative pole of diode D1 ' and resistance R 8 ' one end be connected with DC voltage VCC, the positive pole of diode D2 ' is connected with ground, resistance R 8 ' the other end and resistance R 12 ' one end and 7 pin of second voltage comparable chip U2 ' be connected, resistance R 12 ' the other end and resistance R 11 ' one end and 5 pin of second voltage comparable chip U2 ' be connected, resistance R 11 ' the other end and resistance R 13 ' one end and 9 pin of second voltage comparable chip U2 ' be connected, resistance R 13 ' the other end with ground be connected, resistance R 7 ' the other end and second voltage comparable chip U2 ' 6 pin and resistance R 4 ' one end be connected, resistance R 4 ' the other end be connected with the positive pole of diode D3 ', 1 pin of the negative pole of diode D3 ' and second voltage comparable chip U2 ', resistance R 5 ' one end and resistance R 6 ' one end be connected, resistance R 5 ' be connected to+15V of other end voltage, resistance R 6 ' the other end be connected with the positive pole of diode D5 ' and the negative pole of diode D4 ', this tie point S1 ' is connected with the 4th input and output I/O mouth of one-chip computer module, resistance R 9 ' the other end and second voltage comparable chip U2 ' 4 pin and resistance R 15 ' one end be connected, resistance R 15 ' the other end be connected with the positive pole of diode D6 ', 2 pin of the negative pole of diode D6 ' and second voltage comparable chip U2 ', resistance R 16 ' one end and resistance R 17 ' one end be connected, resistance R 16 ' be connected to+15V of other end voltage, resistance R 17 ' the other end be connected with the positive pole of diode D7 ' and the negative pole of diode D8 ', this tie point S2 ' is connected with the 4th input and output I/O mouth of one-chip computer module, resistance R 14 ' the other end and second voltage comparable chip U2 ' 8 pin and resistance R 10 ' one end be connected, resistance R 10 ' the other end be connected with the positive pole of diode D9 ', 14 pin of the negative pole of diode D9 ' and second voltage comparable chip U2 ', resistance R 18 ' one end and resistance R 19 ' one end be connected, resistance R 18 ' be connected to+15V of other end voltage, resistance R 19 ' the other end be connected with the positive pole of diode D10 ' and the negative pole of diode D11 ', this tie point S3 ' is connected with the 4th input and output I/O mouth of one-chip computer module, 3,12 the be connected to respectively+15V of pin of second voltage comparable chip U2 ' ,-15V voltage.
The second operation amplifier chip in the first operation amplifier chip in the interval judging circuit of sinusoidal signal and the interval judging circuit of cosine signal all adopts TL084 chip, second voltage comparable chip in the first voltage comparable chip in the interval judging circuit of sinusoidal signal and the interval judging circuit of cosine signal all adopts LM339 chip
The threshold voltage of the interval judging circuit of just/cosine signal is obtained by electric resistance partial pressure, and the diode in circuit plays amplitude limit and protective effect.Interval judging circuit according to just, the size output low and high level composite signal of cosine signal amplitude, and input single-chip microcomputer.
Interval judging circuit principle of work (referring to table 1): Mei Gezheng, cosine wave (CW) cycle [0,2 π] can be divided into 8 intervals (as shown in Figure 5), and the width in each interval is π/4.In table 1 1-4 behavior just, cosine signal y
1, y
2the corresponding relation of value and interval number and angle.Scrambler output orthogonal just, cosine signal values is adjusted into Y after 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, be in a, b, 3 of c and Fig. 3, to be a ', b ', c ' 3 points, (wherein a be resistance R 8,7 pin tie points with resistance R 12 and the first voltage comparable chip U2, b is the 5 pin tie points of resistance R 11 and resistance R 12 and the first voltage comparable chip U2, and c is the 9 pin tie points of resistance R 11 and 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 second voltage comparable chip U2 ', b ' be resistance R 11 ' with resistance R 12 ' and 5 pin tie points of second voltage comparable chip U2 ', c ' be resistance R 11 ' with resistance R 13 ' and the 9 pin tie points of second voltage comparable chip U2 ').Y in a, b, 3 corresponding tables 1 of c
1numerical value be respectively
y in a ', b ', 3 corresponding tables 1 of c '
2numerical value be respectively
in the time that signal value exceedes threshold values, corresponding voltage comparable chip output low level, when signal value is no more than threshold values, voltage comparable chip output high level.The interval judging circuit output level of table 1 the 5th, the 6th behavior and the corresponding relation of interval number, in table, " 1 " represents high level, " 0 " represents low level.
The interval judging circuit principle of table 1
One-chip computer module principle of work is as follows:
Motor when rotation, scrambler output orthogonal just, cosine signal, in single-chip microcomputer C8051F330/1, A/D converter carries out real-time sampling to signal, will sample signal function value
Wherein A is encoder output amplitude, and B is side-play amount, after standardization calculates, obtains
According to the interval number of interval judgement circuit, from just, choose in Fig. 5 the segment of curve shown in thick black line cosine wave signal as the source value of signal conversion.As shown in Figure 6, by interval [0, π/4] be divided into N decile (N is a positive integer), eachly be divided into a square-wave pulse cycle, the angle value calculating according to the linear function of table 2 correspondence is positioned at cycle first half, export high level, the contrary later half cycle is 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 result be 0 or even number export high level, if output low level of odd number.And for spike train B (seeing that Fig. 6 b)), only need, by 1/4 recurrence interval that moved forward between corresponding A pulse periodic region, get M
1=M+0.5, then to M
1round, equifinality be 0 or even number export high level, if M
1for output low level of odd number.
The linear function that table 2 is interval and corresponding
Linear function is as follows:
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 calculates and adopts by the employing approximate linear function method of table 2 correspondence, below the error of pairing approximation do lower analysis.In Fig. 6, sinusoidal signal function is y
1=sin θ, linear function y=k θ, k=si n (π/4)/(π/4) 0.9002, make Δ y=y
1-y, in θ=[0, π/4] interval, Δ y maximal value is 0.02988, now θ=0.4504 radian, y
1=0.4352, y=0.4054.At this, make y=y
1=0.4352, in substitution formula y=k θ, can calculate corresponding angle is 0.4834 radian, that is to say in θ=[0, π/4] interval use by just, the approximate conference of words of the linear linear function y of cosine function produces the error of 0.03 radian, the positive integer that only need get N≤(π/4)/0.03 ≈ 26.2, the approximate error producing is just in the periodic regime of a pulse signal, namely error is less than the accuracy of detection of whole sensor, negligible, but adopt linear linear function to calculate the very big shortcut calculation of Angle Method.According to method above, establish rotor turn around scrambler output just, cosine wave signal wave number is K, in this algorithm one circle, can export the square-wave pulse signal of 8*KN number.The K of general scrambler is between 100～1000, and the spike train of circuit output can reach 20800～208000 umber of pulses and often turn, and can meet the testing requirement of high accuracy servo system completely.
Claims (1)
- Orthogonal 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 the interval judging circuit of sinusoidal signal (2-1) and the interval judging circuit of cosine signal (2-2), the sinusoidal signal (Y1) of scrambler (3) output is connected with the signal input part of the interval judging circuit of sinusoidal signal (2-1) with the first input and output I/O mouth of one-chip computer module (1) respectively, and the cosine signal (Y2) of scrambler (3) output is connected with the signal input part of the interval judging circuit of cosine signal (2-2) with the second input and output I/O mouth of one-chip computer module (1) respectively; The wayside signaling of the interval judging circuit of sinusoidal signal (2-1) output is connected 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 is connected 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 the first operation amplifier chip (U1), the first voltage comparable chip (U2) and corresponding peripheral cell, one end of 2 pin of the first operation amplifier chip (U1) and resistance R 1, resistance R 2 and resistance R 101 connects altogether, 3 pin of the first operation amplifier chip (U1) are connected with one end of resistance R 3, the other end of resistance R 3 is connected with one end of capacitor C 1 and ground connection, the other end of capacitor C 1 is connected 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, resistance R 2 other ends and the first 1 pin of operation amplifier chip (U1) and the positive pole of diode D1, the negative pole of diode D2, one end of resistance R 7, one end common phase of resistance R 14 and resistance R 9 connects, 4 of the first operation amplifier chip (U1), be connected to respectively+15V of 11 pin,-15V voltage, the negative pole of diode D1 is connected with DC voltage VCC with one end of resistance R 8, the positive pole of diode D2 is connected with ground, the other end of resistance R 8 is connected with one end of resistance R 12 and 7 pin of the first voltage comparable chip (U2), the other end of resistance R 12 is connected with one end of resistance R 11 and 5 pin of the first voltage comparable chip (U2), the other end of resistance R 11 is connected with one end of resistance R 13 and 9 pin of the first voltage comparable chip (U2), the other end of resistance R 13 is connected with ground, the other end of resistance R 7 is connected with one end of resistance R 4 with 6 pin of the first voltage comparable chip (U2), the other end of resistance R 4 is connected with the positive pole of diode D3, 1 pin of the negative pole of diode D3 and the first voltage comparable chip (U2), one end of one end of resistance R 5 and resistance R 6 is connected, be connected to+15V of the other end of resistance R 5 voltage, the other end of resistance R 6 is connected with the positive pole of diode D5 and the negative pole of diode D4, this tie point (S1) is connected with the first pin (P1.0) of the 3rd input and output I/O of one-chip computer module (1), the other end of resistance R 9 is connected with one end of resistance R 15 with 4 pin of the first voltage comparable chip (U2), the other end of resistance R 15 is connected with the positive pole of diode D6, the negative pole of diode D6 is connected with 2 pin, one end of resistance R 16 and one end of resistance R 17 of the first voltage comparable chip (U2), be connected to+15V of the other end of resistance R 16 voltage, the other end of resistance R 17 is connected with the positive pole of diode D7 and the negative pole of diode D8, and this tie point (S2) is connected with the second pin (P1.1) of the 3rd input and output I/O of one-chip computer module (1), the other end of resistance R 14 is connected with one end of resistance R 10 with 8 pin of the first voltage comparable chip (U2), the other end of resistance R 10 is connected with the positive pole of diode D9, the negative pole of diode D9 is connected with 14 pin, one end of resistance R 18 and one end of resistance R 19 of the first voltage comparable chip (U2), be connected to+15V of the other end of resistance R 18 voltage, the other end of resistance R 19 is connected with the positive pole of diode D10 and the negative pole of diode D11, and this tie point (S3) is connected with the three-prong (P1.2) of the 3rd input and output I/O of one-chip computer module (1), 3,12 be connected to respectively+15V of pin of the first voltage comparable chip (U2) ,-15V voltage,The interval judging circuit of above-mentioned cosine signal comprises the second operation amplifier chip (U1 ＇), second voltage comparable chip (U2 ＇) and corresponding peripheral cell, one end of 2 pin of the second operation amplifier chip (U1 ＇) and resistance R 1 ＇, resistance R 2 ＇ and resistance R 101 ＇ connects altogether, 3 pin of the second operation amplifier chip (U1 ＇) are connected with one end of resistance R 3 ＇, the other end of resistance R 3 ＇ is connected with one end of capacitor C 1 ＇ and ground connection, the other end of capacitor C 1 ＇ is connected 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, 1 pin of the resistance R 2 ＇ other ends and the second operation amplifier chip (U1 ＇) and the positive pole of diode D1 ＇, the negative pole of diode D2 ＇, one end of resistance R 7 ＇, one end common phase of resistance R 14 ＇ and resistance R 9 ＇ connects, 4 of the second operation amplifier chip (U1 ＇), be connected to respectively+15V of 11 pin,-15V voltage, the negative pole of diode D1 ＇ is connected with DC voltage VCC with one end of resistance R 8 ＇, the positive pole of diode D2 ＇ is connected with ground, the other end of resistance R 8 ＇ is connected with one end of resistance R 12 ＇ and 7 pin of second voltage comparable chip (U2 ＇), the other end of resistance R 12 ＇ is connected with one end of resistance R 11 ＇ and 5 pin of second voltage comparable chip (U2 ＇), the other end of resistance R 11 ＇ is connected with one end of resistance R 13 ＇ and 9 pin of second voltage comparable chip (U2 ＇), the other end of resistance R 13 ＇ is connected with ground, the other end of resistance R 7 ＇ is connected with one end of resistance R 4 ＇ with 6 pin of second voltage comparable chip (U2 ＇), the other end of resistance R 4 ＇ is connected with the positive pole of diode D3 ＇, 1 pin of the negative pole of diode D3 ＇ and second voltage comparable chip (U2 ＇), one end of one end of resistance R 5 ＇ and resistance R 6 ＇ is connected, be connected to+15V of the other end voltage of resistance R 5 ＇, the other end of resistance R 6 ＇ is connected with the positive pole of diode D5 ＇ and the negative pole of diode D4 ＇, this tie point (S1 ＇) is connected with the first pin (P1.5) of the 4th input and output I/O of one-chip computer module (1), the other end of resistance R 9 ＇ is connected with one end of resistance R 15 ＇ with 4 pin of second voltage comparable chip (U2 ＇), the other end of resistance R 15 ＇ is connected with the positive pole of diode D6 ＇, 2 pin of the negative pole of diode D6 ＇ and second voltage comparable chip (U2 ＇), one end of one end of resistance R 16 ＇ and resistance R 17 ＇ is connected, be connected to+15V of the other end voltage of resistance R 16 ＇, the other end of resistance R 17 ＇ is connected with the positive pole of diode D7 ＇ and the negative pole of diode D8 ＇, this tie point (S2 ＇) is connected with the second pin (P1.4) of the 4th input and output I/O of one-chip computer module (1), the other end of resistance R 14 ＇ is connected with one end of resistance R 10 ＇ with 8 pin of second voltage comparable chip (U2 ＇), the other end of resistance R 10 ＇ is connected with the positive pole of diode D9 ＇, 14 pin of the negative pole of diode D9 ＇ and second voltage comparable chip (U2 ＇), one end of one end of resistance R 18 ＇ and resistance R 19 ＇ is connected, be connected to+15V of the other end voltage of resistance R 18 ＇, the other end of resistance R 19 ＇ is connected with the positive pole of diode D10 ＇ and the negative pole of diode D11 ＇, this tie point (S3 ＇) is connected with the three-prong (P1.3) of the 4th input and output I/O of one-chip computer module (1), 3,12 be connected to respectively+15V of pin of second voltage comparable chip (U2 ＇) ,-15V voltage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210122979.0A CN102636194B (en) | 2012-04-24 | 2012-04-24 | Orthogonal sine and cosine axial angle encoder signal detecting and converting circuit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210122979.0A CN102636194B (en) | 2012-04-24 | 2012-04-24 | Orthogonal sine and cosine axial angle encoder signal detecting and converting circuit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102636194A CN102636194A (en) | 2012-08-15 |
| CN102636194B true CN102636194B (en) | 2014-09-03 |
Family
ID=46620680
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210122979.0A Active CN102636194B (en) | 2012-04-24 | 2012-04-24 | Orthogonal sine and cosine axial angle encoder signal detecting and converting circuit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102636194B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105162470B (en) * | 2015-07-29 | 2018-08-03 | 中工科安科技有限公司 | A kind of code device signal digital safety transmitting device |
| CN107659224B (en) * | 2017-08-18 | 2020-03-06 | 天津大学 | Device and method for converting axial angle of rotary transformer based on square wave excitation signal |
| CN113359026A (en) * | 2020-03-06 | 2021-09-07 | 比亚迪股份有限公司 | Motor parameter diagnosis device and system |
| CN113359025A (en) * | 2020-03-06 | 2021-09-07 | 比亚迪股份有限公司 | Motor parameter diagnosis device and motor parameter diagnosis system |
| CN112268501B (en) * | 2020-09-03 | 2022-03-04 | 西安铁路信号有限责任公司 | Detection method applicable to linear displacement or corner position of object |
| CN112461110B (en) * | 2020-11-16 | 2022-05-24 | 苏州朗高电机有限公司 | Testing tool of SSI encoder |
| 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 |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6590500B1 (en) * | 2002-03-19 | 2003-07-08 | Eaton Corporation | Method of linearizing a sine and cosine signal |
| CN1667356A (en) * | 2004-03-11 | 2005-09-14 | 财团法人工业技术研究院 | Subdividing device and measurement system applying the same |
| CN102111158A (en) * | 2010-11-23 | 2011-06-29 | 广州数控设备有限公司 | Device for subdividing sine signal and cosine signal of position sensor and coding data, and implementation method thereof |
| CN202547664U (en) * | 2012-04-24 | 2012-11-21 | 浙江大学 | Quadrature sine-cosine shaft angle encoder signal detection and conversion circuit |
-
2012
- 2012-04-24 CN CN201210122979.0A patent/CN102636194B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6590500B1 (en) * | 2002-03-19 | 2003-07-08 | Eaton Corporation | Method of linearizing a sine and cosine signal |
| CN1667356A (en) * | 2004-03-11 | 2005-09-14 | 财团法人工业技术研究院 | Subdividing device and measurement system applying the same |
| CN102111158A (en) * | 2010-11-23 | 2011-06-29 | 广州数控设备有限公司 | Device for subdividing sine signal and cosine signal of position sensor and coding data, and implementation method thereof |
| CN202547664U (en) * | 2012-04-24 | 2012-11-21 | 浙江大学 | Quadrature sine-cosine shaft angle encoder signal detection and conversion circuit |
Non-Patent Citations (7)
| Title |
|---|
| Mohieddine Benammar.etc.A Novel Converterfor Sinusoidal Encoders.《SENSORS》.2006,(第5期),第1415-1418页. * |
| 一种新型实现高倍编码器细分的软件设计;贺传敏等;《电子测量技术-微处理器应用》;20080831;第31卷(第8期);第143-146页 * |
| 周雪连等.正余弦编码器细分技术研究.《现代电子技术》.2012,第35卷(第3期),第164-166页. |
| 基于单片机的磁性编码器信号细分系统的设计;张名波;《集成电路与元器件》;20040630(第6期);21-22页 * |
| 张名波.基于单片机的磁性编码器信号细分系统的设计.《集成电路与元器件》.2004,(第6期),第21-22页. |
| 正余弦编码器细分技术研究;周雪连等;《现代电子技术》;20120201;第35卷(第3期);164-166页 * |
| 贺传敏等.一种新型实现高倍编码器细分的软件设计.《电子测量技术-微处理器应用》.2008,第31卷(第8期),第143-146页. |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102636194A (en) | 2012-08-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102636194B (en) | Orthogonal sine and cosine axial angle encoder signal detecting and converting circuit | |
| CN106706012B (en) | Coding disk, photoelectric measuring angular encoder and its working method using the coding disk | |
| CN102624375B (en) | The signal processing apparatus of compatible with multiple encoder and resolver interface | |
| CN102111158B (en) | Device for subdividing sine signal and cosine signal of position sensor and coding data, and implementation method thereof | |
| CN101521480B (en) | Resolution method and resolver for signals of rotating transformer | |
| CN103925933A (en) | Multi-circle absolute magnetic encoder | |
| EP3161420B1 (en) | Rotation angle measuring apparatus and measuring method | |
| CN202041221U (en) | Subdividing device of sine/cosine encoder | |
| CN201387335Y (en) | Hall rotary encoder | |
| CN201608680U (en) | Motor rotation detecting device | |
| CN206300667U (en) | Coding disk, the photoelectric measuring angular encoder using the coding disk | |
| CN102914665A (en) | Motor revolving speed measurement and fault state detection system | |
| CN102506905B (en) | A kind of High Precision Absolute Encoder | |
| CN201858990U (en) | Device for subdividing sine-cosine signals and encoding data of position sensor | |
| CN104634367A (en) | Magnetoelectric type absolute position sensor with large central hole structure and method for measuring absolute position | |
| CN202547664U (en) | Quadrature sine-cosine shaft angle encoder signal detection and conversion circuit | |
| CN101886932B (en) | Position detection device, signal processing device thereof and method | |
| CN203203609U (en) | Interface circuit of sine-cosine encoder | |
| CN202281615U (en) | High-precision absolute encoder | |
| CN202940767U (en) | System for calibrating zero position angle of resolver rotor | |
| CN102324888A (en) | DSP based vector control system for variable-speed constant-frequency double-feed wind driven generator | |
| CN209877990U (en) | Non-contact absolute angle position sensor of rotating body | |
| CN110212818B (en) | Angle detection method for permanent magnet motor | |
| CN202276311U (en) | PET-CT wheel hub motor position detecting device based on magnet ring and hall sensor | |
| CN108287251A (en) | A kind of rotating speed male female tooth signal recognition method based on peak holding |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |