CN103713154A - Method for judging motor rotating direction by using trigger and coder - Google Patents
Method for judging motor rotating direction by using trigger and coder Download PDFInfo
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- CN103713154A CN103713154A CN201410005699.0A CN201410005699A CN103713154A CN 103713154 A CN103713154 A CN 103713154A CN 201410005699 A CN201410005699 A CN 201410005699A CN 103713154 A CN103713154 A CN 103713154A
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Abstract
The invention relates to a method for judging a motor rotating direction by using a trigger and a coder. The method for judging the motor rotating direction by using the trigger and the coder comprises the steps that (1) a speed pulse coder outputs two phases of pulse signals according to acquired motor rotating information, any one phase of the pulse signal of the two phases of the pulse signals is connected to the input end of the trigger to server as an input signal, and the other phase of the pulse signal is connected to the clock end of the trigger to serve as a clock control signal; (2) a microcontroller detects the output end of the trigger, and when the motor changers the rotating direction, phase inversion is carried out on the clock control signal, and a high electric level is changed to a low electric level or the low electric level is changed to the high electric level at the output end of the trigger. According to the method for judging the motor rotating direction by using the trigger and the coder, through the utilization of the two-phase output characteristics of the coder and the characteristics of the trigger, rotating direction information is transformed into electric level signals to be provided to the microcontroller, and the method for judging the motor rotating direction by using the trigger and the coder has the advantages that devices are simple, cost is low, the accuracy rate is high, and real-time detection can be achieved.
Description
Technical field
The present invention relates to a kind of trigger that utilizes and match with velocity pulse scrambler, the method according to the sense of rotation of TTL logic level judgement motor, can realize the real-time detection to motor steering information by level signal being accessed to the microcontrollers such as single-chip microcomputer.
Background technology
Along with the development of computing machine and electronic technology, get more and more and be applied in productive life based on Embedded electric machine control system.Be different from traditional control system, this control system is utilized logic level signal transmission information, realizes the close-loop feedback of automatically controlling.If utilize circuit to be converted into logic level signal motor steering information, the voltage that microcontroller only need detect respective pins gets final product Real-time Obtaining when the direction information of front motor, not only improve the efficiency of system, and improved the accuracy detecting, there is extraordinary application prospect.
When judgement motor steering, normal operating speed scrambler is first converted into pulse signal by the velocity information of motor, as the E6A2 series scrambler that Omron Corp produces, adopts the two-phase pulse coding output of quadrature, and two-phase has phase quadrature.After tested, pulses low is less than 0.5V, and high level can be between 5V-12V according to the voltage of connect pull-up resistor, and two alternate phase stabilities are higher, voltage is more stable.
Current method is programmed and is realized the judgement to motor steering according to the two-phase pulse number of collecting in microcontroller, this mode has increased the complexity of system, owing to need to reading at regular intervals the value of two step-by-step counting registers, reduced the running efficiency of microcontroller.In addition, the pulse number that may receive is within a certain period of time identical and cause judging motor steering, and recognition success rate is not high.
Summary of the invention
The technical problem to be solved in the present invention is to reduce the complexity that motor steering detects, and meanwhile, improves its recognition success rate.
In order to achieve the above object, technical scheme of the present invention provides a kind of method of utilizing trigger and scrambler judgement motor steering, the steps include:
The first step, the motor rotation information output two-phase pulse signal being obtained by velocity pulse scrambler basis, the input end of any phase pulse signal access trigger in two-phase pulse signal, as input signal, the clock end of another phase pulse signal access trigger, as clock control signal;
Second step, by the output of microcontroller detection triggers, after motor steering, clock control signal is anti-phase, the output of trigger is changed to low level by high level, or is changed to high level by low level.
Preferably, when described motor forward rotation, when the rising edge of described clock control signal, described input signal is positioned at high level, and described trigger is output as high level; When described motor rotates backward, described clock control signal is anti-phase, and when the rising edge of described clock control signal, described input signal is positioned at low level, and described trigger is output as low level.
Preferably, by described microcontroller, be set the stand-by period, within the stand-by period, the high level and the low level number that by microcontroller statistics, are received judge turning to of described motor, prevent the jitter phenomenon in motor steering process.
The present invention utilizes the two-phase output of scrambler and the feature of trigger, changes direction information into level signal and offers microcontroller, and it has the advantages such as device is simple, cost is lower, accuracy rate is high, can detect in real time.
Accompanying drawing explanation
Fig. 1 is in embodiment during motor forward rotation, input signal and clock control signal schematic representation;
Fig. 2 is when in embodiment, motor rotates backward, input signal and clock control signal schematic representation.
Embodiment
For the present invention is become apparent, hereby with preferred embodiment, and coordinate accompanying drawing to be described in detail below.
The invention provides a kind of method of utilizing trigger and scrambler judgement motor steering, step is:
The first step, the motor rotation information output two-phase pulse signal being obtained by velocity pulse scrambler basis, the input end of any phase pulse signal access trigger in two-phase pulse signal, as input signal, the clock end of another phase pulse signal access trigger, as clock control signal;
Second step, by the output of microcontroller detection triggers, after motor steering, clock control signal is anti-phase, the output of trigger is changed to low level by high level, or be changed to high level by low level, those skilled in the art can set according to actual conditions, for example, be motor forward rotation during high level, are that motor rotates backward during low level; Also can during high level, be that motor rotates backward, be motor forward rotation during low level, and that the present embodiment adopts is the former, specific as follows:
When motor forward rotation, when the rising edge of clock control signal, input signal is positioned at high level, and trigger is output as high level, as shown in Figure 1.Voltage table detection triggers output terminal is high level.When motor rotates backward, clock control signal is anti-phase, and when the rising edge of clock control signal, input signal is positioned at low level, and trigger is output as low level, as shown in Figure 2.Voltage table detection triggers output terminal is low level.
In order to prevent the jitter phenomenon in motor steering process, can also be set the stand-by period by microcontroller, within the stand-by period, the high level and the low level number that by microcontroller statistics, are received judge turning to of described motor, for example in the present embodiment, and within the stand-by period, if the high level number that microcontroller receives is 2, and low level number is 6, can be judged to be motor and to be turned in order rotating backward by forward rotation, vice versa.
Rotating direction control method of the present invention is applied in two-wheeled vertical balanced dolly, at dolly, travel the middle needs rotation situation that front vehicle wheel is worked as in detection in real time fast to reach the close-loop feedback of speed of a motor vehicle control, by the method, detect in real time the sense of rotation of wheel, reached more stable upright effect.
Claims (3)
1. a method of utilizing trigger and scrambler judgement motor steering, is characterized in that, step is:
The first step, the motor rotation information output two-phase pulse signal being obtained by velocity pulse scrambler basis, the input end of any phase pulse signal access trigger in two-phase pulse signal, as input signal, the clock end of another phase pulse signal access trigger, as clock control signal;
Second step, by the output of microcontroller detection triggers, after motor steering, clock control signal is anti-phase, the output of trigger is changed to low level by high level, or is changed to high level by low level.
2. a kind of method of utilizing trigger and scrambler judgement motor steering as claimed in claim 1, it is characterized in that, when described motor forward rotation, when the rising edge of described clock control signal, described input signal is positioned at high level, and described trigger is output as high level; When described motor rotates backward, described clock control signal is anti-phase, and when the rising edge of described clock control signal, described input signal is positioned at low level, and described trigger is output as low level.
3. a kind of method of utilizing trigger and scrambler judgement motor steering as claimed in claim 1, it is characterized in that, by described microcontroller, be set the stand-by period, within the stand-by period, the high level and the low level number that by microcontroller statistics, are received judge turning to of described motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410005699.0A CN103713154A (en) | 2014-01-07 | 2014-01-07 | Method for judging motor rotating direction by using trigger and coder |
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| CN201410005699.0A CN103713154A (en) | 2014-01-07 | 2014-01-07 | Method for judging motor rotating direction by using trigger and coder |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107656093A (en) * | 2017-10-16 | 2018-02-02 | 深圳市路畅科技股份有限公司 | A kind of detection method and device of rotary encoder |
| CN112146686A (en) * | 2019-06-27 | 2020-12-29 | 西安诺瓦星云科技股份有限公司 | Rotation information acquisition method, device and system and computer readable storage medium |
| CN112924716A (en) * | 2021-01-25 | 2021-06-08 | 武汉先同科技有限公司 | Digital direction discrimination method for improved two-phase encoder |
| CN113848466A (en) * | 2021-08-02 | 2021-12-28 | 惠州市德赛西威汽车电子股份有限公司 | Detection circuit and detection method for realizing rapid response of knob |
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| CN102880181A (en) * | 2012-09-06 | 2013-01-16 | 中山大学 | Inverted pendulum system as well as control circuit and control method thereof |
| CN103441717A (en) * | 2013-08-06 | 2013-12-11 | 毛振刚 | Digital direct-current speed regulating system of electric excavator |
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| CN101003930A (en) * | 2006-01-18 | 2007-07-25 | 上海鲍麦克斯电子科技有限公司 | Control system in new type computer controlled sewing machine |
| CN101216711A (en) * | 2008-01-08 | 2008-07-09 | 哈尔滨工程大学 | Amphibious mechanical crab step control device and control method |
| CN102880181A (en) * | 2012-09-06 | 2013-01-16 | 中山大学 | Inverted pendulum system as well as control circuit and control method thereof |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107656093A (en) * | 2017-10-16 | 2018-02-02 | 深圳市路畅科技股份有限公司 | A kind of detection method and device of rotary encoder |
| CN112146686A (en) * | 2019-06-27 | 2020-12-29 | 西安诺瓦星云科技股份有限公司 | Rotation information acquisition method, device and system and computer readable storage medium |
| CN112924716A (en) * | 2021-01-25 | 2021-06-08 | 武汉先同科技有限公司 | Digital direction discrimination method for improved two-phase encoder |
| CN113848466A (en) * | 2021-08-02 | 2021-12-28 | 惠州市德赛西威汽车电子股份有限公司 | Detection circuit and detection method for realizing rapid response of knob |
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Application publication date: 20140409 |