CN103983290A - Composite type absolute value encoder - Google Patents
Composite type absolute value encoder Download PDFInfo
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- CN103983290A CN103983290A CN201410188609.6A CN201410188609A CN103983290A CN 103983290 A CN103983290 A CN 103983290A CN 201410188609 A CN201410188609 A CN 201410188609A CN 103983290 A CN103983290 A CN 103983290A
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Abstract
The invention discloses a composite type absolute value encoder which comprises a magnetoelectric absolute value encoding unit and a photoelectric increment encoding unit. A code wheel of the photoelectric increment encoding unit comprises a full-light-transmitting zone. The composite type absolute value encoder further comprises a photoelectric calibration unit and a data combination unit. The photoelectric calibration unit comprises a light transmitting part, a light shading part, a second photoelectric sensor and an adjusting circuit. The light transmitting part and the light shading part are provided with a plurality of second slots and third slots identical to first slots in an engraving mode. The second slots and the first slots are aligned. The third slots and the first slots are completely staggered. The input ends of the adjusting circuit are electrically connected with the first photoelectric sensor and the second photoelectric sensor respectively. The output end of the adjusting circuit is electrically connected with an increment encoding device. The composite type absolute value encoder can carry out accurate encoding, and accordingly the resolution ratio of the composite type absolute value encoder is improved.
Description
Technical field
The present invention relates to a kind of compound absolute value encoder, relate in particular to a kind of absolute value encoder of the composite structure with magneto-electric absolute encoder unit and photo-electric incremental encoding unit.
Background technology
In existing Precision Machining and automation control area, for the high-accuracy measurement and control location of position, comprise the measurement of the Position And Velocity of distance mobile after the anglec of rotation, speed and transmission etc., all needing has high-resolution absolute value encoder, especially resolution need to reach more than per mille degree requirement (also i.e. 360000 circumference degree of cutting apart, 19 above degree of cutting apart resolution requirement of approximately 2 19 powers).The startup turntable high precision corner steady and floor location, radar and wireless antenna of the hi-Fix of the precision positioning of turntable multi-angle, servomotor and the robot arm control at for example Precision Machining center and speed control, express lift car is located etc., and the absolute value encoder of high-accuracy high-resolution is the gordian technique of its control accuracy.Existing common optical profile type incremental encoder, conventional optical profile type absolute value encoder, conventional magneto-electric absolute value encoder have shortcoming separately, cannot reach more than 19 absolute value signal high resolving power, or the unusual costliness due to technology difficulty, thereby limit the industrial widespread use of this series products.How obtaining 19 above high resolving power absolute value encoders that comparatively economic applicable industry is widely applied, and how to use expediently high resolving power absolute value encoder, is the very crucial technology of modern industry control.
The compound absolute value encoder of existing one, referring to Fig. 1, comprises the magneto-electric absolute encoder unit, a photo-electric incremental encoding unit and the coding circuit plate 12 that share a rotating shaft 11.
Described magneto-electric absolute encoder unit is in output one absolute value signal, comprise that one is arranged at permanent magnet in described rotating shaft 11 131, and is arranged at magnetoelectric transducer 132 and the absolute encoder device being electrically connected with described magnetoelectric transducer 132 in described permanent magnet 131 downstreams, described specific coding device is arranged on described coding circuit plate 12.The coding principle of described magneto-electric absolute encoder unit is: described absolute encoder device utilizes memory function by the N of described permanent magnet 131 (north), S (south) pole field distribution plan preserves and (is recorded as initial point, also cry zero point), in the time that described permanent magnet 131 rotates together along with described rotating shaft 11, the N of described permanent magnet 131, S pole field distributes and changes, the Distribution of Magnetic Field figure detecting is transferred to described absolute encoder device by described magnetoelectric transducer 132, described absolute encoder device compares the Distribution of Magnetic Field figure of the Distribution of Magnetic Field figure receiving and initial point, draw the relative angle between two figure, thereby extrapolate the current absolute position of described rotating shaft 11, export described absolute value signal.
Described photo-electric incremental encoding unit is used for exporting a sinusoidal signal and a cosine signal, comprise an optical transmitting set 141, one lens 144 are (not shown in Fig. 1, shown in Fig. 4), one to have the grating 146 of some wide equally spaced the first slits (not shown in Fig. 1, shown in Fig. 4), one is arranged at the code-disc 142 in described rotating shaft 11, one group of (two) first photoelectric sensor 143 and an incremental encoding device 145, the outer ring of described code-disc 142 is provided with the coding slit that some and described the first slit is identical, the coding principle of described photo-electric incremental encoding unit is: the light that described optical transmitting set 141 is launched passes through described lens 144 successively, after described grating 146 and described code-disc 142, transfer to the input end of described the first photoelectric sensor 143, in the time that described code-disc 142 rotates along with described rotating shaft 11, the luminous flux that described the first photoelectric sensor 143 detects changes, the described sinusoidal signal of corresponding output and described cosine signal, and the peak-to-peak value of described sinusoidal signal and described cosine signal is identical, cycle is identical.
Described coding circuit plate 12 obtains described absolute value signal and described cosine and sine signal, and the two is combined into an absolute encoder, and described rotating shaft 11 turned positions that each absolute encoder is corresponding are well-determined.
But in the work of described compound absolute value encoder, the improper property causing due to various Working Environments changes, as optical transmitting set with the fluctuation of supply voltage or temperature variation and the glass surface of the variation of light intensity, lens, code-disc be subject to dust or greasy dirt affect transmitance decline, as described in the temperature variant change of sensitivity of the first photoelectric sensor etc., all can cause sinusoidal signal and the cosine signal of the output of described photo-electric incremental encoding unit unstable, affect the resolution of described compound absolute value encoder.
Summary of the invention
Be subject to such environmental effects and export unsettled defect in order to solve in prior art the resolution of compound absolute value encoder, a kind of high precision is provided, there is the compound absolute value encoder of stable output.
The present invention solves the problems of the technologies described above by following technical proposals:
A kind of compound absolute value encoder, comprise the magneto-electric absolute encoder unit and the photo-electric incremental encoding unit that share a rotating shaft, described magneto-electric absolute encoder unit is used for exporting an absolute value signal, described photo-electric incremental encoding unit comprises that an optical transmitting set, lens, have the grating of some the first slits, a code-disc being connected with described rotating shaft, one first photoelectric sensor and an incremental encoding device, be characterized in
Described code-disc comprises a code area and a full photic zone, described compound absolute value encoder also comprises a photoelectric calibration unit, described photoelectric calibration unit comprises: a transmittance section, a light shielding part, one second photoelectric sensor and a regulating circuit, the second slit and the 3rd slit that some and described the first slit is identical is carved with respectively with described light shielding part in described transmittance section, and described the second slit aligns with described the first slit, described the 3rd slit and described the first slit stagger completely.
The light of described optical transmitting set transmitting is transmitted to described code-disc through described lens, described grating successively.Wherein, the light of a part transfers to the input end of described the first photoelectric sensor by described code area, described the first photoelectric sensor is exported respectively a sinusoidal signal and a cosine signal, and described sinusoidal signal and described cosine signal are output as prior art, do not repeat them here.The light of another part first transfers to respectively the input end of described the second photoelectric sensor again by described transmittance section and described light shielding part by described full photic zone, corresponding to the light through the transmission of described transmittance section, described the second photoelectric sensor output one first voltage, corresponding to the light through described light shielding part transmission, described the second photoelectric sensor is exported a second voltage.Because described transmittance section is not with described rotating shaft rotation, and the second slit of described transmittance section and the identical and aligned in position of described the first slit size, so the luminous flux through the transmission of described transmittance section is just equivalent to the highlight flux through the transmission of described code area, described the first voltage is just equivalent to the maximal value of described sinusoidal signal and described cosine signal.Again because described light shielding part does not also rotate with described rotating shaft, and the 3rd slit of described light shielding part is identical with described the first slit size and stagger completely in position, so the luminous flux through described light shielding part transmission is just equivalent to the minimum luminous flux through the transmission of described code area, described second voltage is just equivalent to the minimum value of described sinusoidal signal and described cosine signal.
The present invention is with detecting the peak value that replaces direct-detection sinusoidal signal and cosine signal through the luminous flux of described transmittance section and described light shielding part, avoid, because of the inaccurate problem of peak value that described code-disc rotates, the not high factor of measuring accuracy causes, having reduced measurement difficulty.
The output terminal of the output terminal of described the first photoelectric sensor and described the second photoelectric sensor is electrically connected with the input end of described regulating circuit respectively, and the output terminal of described regulating circuit is electrically connected with described incremental encoding device; Described regulating circuit regulates described sinusoidal signal and described cosine signal to export a standard sine signal and a standard cosine signal according to described the first voltage, described second voltage and a default normal voltage, and described incremental encoding device encodes to export a standard increment signal to described standard sine signal and described standard cosine signal; Described compound absolute value encoder also comprises a data assembled unit, for combining described absolute value signal and described standard increment signal, to export a standard absolute value signal.
Because the amplitude of the sinusoidal signal in the present invention and cosine signal is identical with frequency, therefore hereinafter by described sinusoidal signal and described cosine signal referred to as cosine and sine signal, in like manner, by described standard sine signal and described standard cosine signal referred to as standard cosine and sine signal.
As from the foregoing, the present invention does not carry out regulation output standard cosine and sine signal by the mode that directly peak value of described cosine and sine signal is adjusted to described normal voltage, but by setting up described photoelectric calibration unit and full photic zone being set in code-disc, simulate the minimum and maximum situation of luminous flux in cataloged procedure, utilize described the first voltage and described second voltage, in conjunction with described normal voltage, standard cosine and sine signal described in regulation output, avoid in cataloged procedure, due to described rotating shaft rotation, external environment changes the unsettled phenomenon of cosine and sine signal peak value causing, make the strict peak value that is equivalent to described cosine and sine signal of described the first voltage and described second voltage, further improve the accuracy of photo-electric incremental encoding cell encoding.In addition, the present invention combines the absolute value signal of described magneto-electric absolute encoder unit and the standard increment signal of photo-electric incremental encoding unit, has both retained existing magneto-electric scrambler and has not been subject to the advantage that has a power failure and affect, and has improved again the precision of coding.
Preferably, the peak value of described standard cosine and sine signal equals described normal voltage, and the cycle of described standard cosine and sine signal equals the cycle of described cosine and sine signal.Described cosine and sine signal is adjusted to described standard cosine and sine signal, also just make described cosine and sine signal by standardization, thereby while making described incremental encoding device coding for be that some amplitudes are identical, only have the different signal in phasing degree, simplified the cataloged procedure of described incremental encoding device.
Preferably, described regulating circuit comprises a negative feedback amplifier circuit and a microprocessor, described microprocessor is for calculating the standard enlargement factor that the voltage difference of described the first voltage and described second voltage is amplified to described normal voltage, and the enlargement factor that regulates described negative feedback amplifier circuit equals standard enlargement factor, described negative feedback amplifier circuit is for amplifying described cosine and sine signal according to described standard enlargement factor.The mode that described regulating circuit adopts hardware and software to combine, has realized the amplification of described cosine and sine signal, has advantages of intelligence, calculates fast.
Preferably, described data assembled unit is for intercepting a coarse positioning absolute value signal from described absolute value signal, from described standard increment signal, intercept a fine positioning standard increment signal, then by described coarse positioning absolute value signal and described fine positioning standard increment signal combination and export described standard absolute value signal.The output of described data assembled unit has simply, effective advantage, has ensured the precision of coding.
Preferably, described compound absolute value encoder also comprises a storer, and for storing described absolute value signal, described standard increment signal and described standard absolute value signal, and described storer is connected with described data assembled unit.Described absolute value signal, described standard increment signal and described standard absolute value signal are stored in described storer with binary mode, facilitate transferring of described data assembled unit.
Preferably, described storer also stores the corresponding relation of described absolute value signal and described standard absolute value signal.Store described corresponding relation, described data assembled unit just can directly obtain coding result by transferring the standard absolute value signal corresponding with a certain absolute value signal, and do not need all to encode through described incremental encoding device, accelerate the operation of described compound absolute value encoder. at every turn
Preferably, described compound absolute value encoder also comprises a rotating speed computing unit, described rotating speed computing unit is used for calculating the rotating speed of described rotating shaft, and in the time that the rotating speed calculating exceedes a threshold value, stops the operation of described magneto-electric absolute encoder unit and described data assembled unit.Because the too fast meeting of the rotating speed of rotating shaft sometimes causes described magneto-electric absolute encoder unit precise decreasing, so in order to ensure the accuracy of coding, once it is too fast that described rotating speed calculating unit inspection goes out rotating speed, described compound absolute value encoder will switch to the pattern by described photo-electric incremental encoding unit and described photoelectric calibration unit complete independently coding.
Preferably, the angle of described rotating speed computing unit by absolute value signal described in twice of continuous acquisition and/or described cosine and sine signal, obtain the differential seat angle of twice angle and the time interval of collection to calculate described rotating speed.
Preferably, in the angle collecting at described rotating speed computing unit, if one be scope 0 degree to the low-angle of 90 degree and another for scope at 270 degree the wide-angle to 360 degree, described differential seat angle equals described low-angle and sum deducts described wide-angle again, or the difference that equals described wide-angle and described low-angle deducts 360 degree again.
Meeting on the basis of this area general knowledge, above-mentioned each optimum condition, can combination in any, obtains the preferred embodiments of the invention.
Positive progressive effect of the present invention is: it is defeated that compound absolute value encoder of the present invention combines photo-electric incremental encoding unit on the basis of magneto-electric absolute encoder unit, and proofread and correct accurately by changing existing structure sinusoidal signal and the cosine signal that described photo-electric incremental encoding unit is exported, improve the accuracy of incremental encoding, and then improve the resolution of described compound absolute value encoder, having realized is neither subject to have a power failure affects, and can ensure again the Stability and veracity of coding.Consider the efficiency of actual coding process simultaneously, set up described storer, simplified a part of calculating.
Brief description of the drawings
Fig. 1 is the structural representation of existing compound absolute value encoder.
Fig. 2 is the structural representation of the code-disc of the embodiment of the present invention.
Fig. 3 is the schematic diagram of the compound absolute value encoder of the embodiment of the present invention.
Fig. 4 is the structural representation of the photoelectric calibration unit of the embodiment of the present invention.
Fig. 5 is the schematic diagram of the regulating circuit of the embodiment of the present invention.
Fig. 6 is the analogous diagram of standard sine signal A ' and the standard cosine signal B ' of the embodiment of the present invention.
Fig. 7 is the cataloged procedure schematic diagram of the compound absolute value encoder of the embodiment of the present invention.
Fig. 8 is the division schematic diagram of the rotational angle of the compound absolute value encoder of the embodiment of the present invention.
Embodiment
Mode below by embodiment further illustrates the present invention, but does not therefore limit the present invention among described scope of embodiments.
Embodiment
Fig. 2 is the structural representation of the code-disc of the embodiment of the present invention.Described code-disc 21 is provided with some coding slits 211, those coding slits 211 form a code area, the center of described code-disc is provided with a circular hole 212, on described code-disc 21, be also provided with a full photic zone 213, adopt the glass material of all-transparent, light can not change penetrating described full photic zone 213 front and back luminous fluxes, the shape of the full photic zone 213 of the present embodiment is similar to an annulus, be arranged between described circular hole 212 and described coding slit 211, but code-disc of the present invention is not limited to, described full photic zone 213 is located between described circular hole 212 and described coding slit 211, described full photic zone 213 also can be arranged at the outer ring of described coding slit 211.
Fig. 3 is the structural representation of the compound absolute value encoder of the present embodiment.Described compound absolute value encoder, comprise magneto-electric absolute encoder unit 22 and the photo-electric incremental encoding unit 23 of the compound absolute value encoder in background technology, and described magneto-electric absolute encoder unit and described photo-electric incremental encoding unit are prior art, do not repeat them here.Described compound absolute value encoder also comprises a photoelectric calibration unit 24, a storer 25, a data assembled unit 26 and a rotating speed computing unit 27.Wherein the storer 25 of the present embodiment adopts EPPROM (a kind of Erarable Programmable Read only Memory), but storer of the present invention is not limited to this.
Referring to Fig. 4, described photoelectric calibration unit 24 comprises: ruling grating 241, one second photoelectric sensor 242 and a regulating circuit that fix, that do not rotate with rotating shaft 11.
Described code-disc 21 is arranged in described rotating shaft 11 by described circular hole 212, described ruling grating 241 is divided into a transmittance section arranged side by side and a light shielding part, and the second slit and the 3rd slit that some and described the first slit is identical is carved with respectively with described light shielding part in described transmittance section.Described ruling grating 241 is close to described code-disc 21, (described ruling grating 241 of the present invention is close to described code-disc 21 to be arranged at the downstream of described code-disc 21, also can be arranged at the upstream of described code-disc 21, similar with the principle of the present embodiment, do not repeat them here, and described the second slit aligns with described the first slit, described the 3rd slit and described the first slit stagger completely.
Described the second photoelectric sensor 242 is the photoelectric sensor that a group (two) are identical with described the first photoelectric sensor 143, described the second photoelectric sensor 242 is arranged at respectively the downstream of described transmittance section and described light shielding part, detects for receiving the luminous flux that penetrates described transmittance section and described light shielding part.
Referring to Fig. 5, described regulating circuit comprises a negative feedback amplifier circuit 243 and a microprocessor 244, the input end of described microprocessor 244 is electrically connected with described the second photoelectric sensor 242, output terminal is electrically connected with the input end of described negative feedback amplifier circuit 243, the input end of described negative feedback amplifier circuit 243 is also electrically connected with described the first photoelectric sensor 143, and output terminal is electrically connected with described incremental encoding device 145.
In the time of described compound absolute value encoder operation, the course of work of described photoelectric calibration unit 24 is: referring to Fig. 4 and Fig. 5, the light that described optical transmitting set 141 is launched becomes parallel through described lens 144, light uniformly, then be divided into some light beams through described grating 146, be transmitted to again described code-disc 21, now, part light beam reaches the input end of described the first photoelectric sensor 143 by described coding slit 211, because described coding slit 211 is along with described code-disc 21 rotates, described the first photoelectric sensor 143 detects the luminous flux of variation, output sinusoidal signal A and cosine signal B, another part light beam sees through described full photic zone 213, reach respectively the input end of described the second photoelectric sensor 242 through the transmittance section of described ruling grating 241 and light shielding part, because described full photic zone 213 can not change luminous flux, and described transmittance section and described light shielding part are fixed, described the second photoelectric sensor 242 detects two groups of stable luminous fluxes, one group of voltage S+ of output and S-.Again because described the second slit, the 3rd slit and described coding slit width, density is identical, and described the first photoelectric sensor 143 is identical with described the second photoelectric sensor 242, so the luminous flux that described the second photoelectric sensor 242 detects should equal respectively highlight flux and minimum luminous flux that described the first photoelectric sensor 143 detects, it is the maximal value that voltage S+ equals sinusoidal signal A and cosine signal B, voltage S-equals the minimum value of sinusoidal signal A and cosine signal B, that is to say, in the time of actual measurement, do not need directly to measure the peak value of sinusoidal signal A and cosine signal B, but can indirectly obtain by the value of measuring voltage S+ and S-.Described microprocessor 244 gets voltage S+ and S-, get maximal value and the minimum value of sinusoidal signal A and cosine signal B, the voltage difference of calculating voltage S+ and S-, and described voltage difference is amplified to the required standard enlargement factor of a normal voltage S who sets in advance by calculating, and the enlargement factor that regulates described negative feedback amplifier circuit 243 equals described standard enlargement factor, described negative feedback amplifier circuit 243 amplifies sinusoidal signal A and cosine signal B again according to described enlargement factor, and then output one standard sine signal A ' and a standard cosine signal B ', now, the peak-to-peak value of standard sine signal A ' and standard cosine signal B ' equals normal voltage S.
For ideal situation, described normal voltage S just should equal described voltage difference, but in the practical application of described photo-electric incremental encoding unit 23, the improper property causing due to various Working Environments changes, as as described in Optical Transmit Unit 141 with the fluctuation of supply voltage or temperature variation and the variation of light intensity, described lens 144, the glass surface of described code-disc 21 is declined by the transmittance that affects of dust or greasy dirt, described the first photoelectric sensor 143 temperature variant change of sensitivity etc. (these improper property change all irrelevant with the anglec of rotation of described code-disc), voltage S+ and S-, the maximal value of sinusoidal signal A and cosine signal B and minimum value are also not equal to described normal voltage S, this regulates with regard to the described regulating circuit of needs.
Lift an example below and be further explained, for example, the groove interval width between described the first slit is 0.5mm, and the groove interval width between so described coding slit, between described the second slit, between described the 3rd slit is all equally also 0.5mm.Suppose in the ideal case known, the intermediate value of sinusoidal signal A should be 2.5V, peak-to-peak value should be 1V, be that normal voltage S equals 1V, so described the first photoelectric sensor 143 in the time of described coding slit and described the first slit complete matching, the luminous flux maximum detecting, obtain the maximal value 3V of sinusoidal signal A, in the time that described coding slit and described the first slit stagger completely, the luminous flux minimum detecting, obtains the minimum value 2V of sinusoidal signal A; Described the second photoelectric sensor 242 is in the time of described transmittance section and described the first slit complete matching, the voltage S+ obtaining is 3V, equates, with the maximal value of sinusoidal signal A in the time that described light shielding part and described the first slit stagger completely, the voltage S-obtaining is 2V, equates with the minimum value of sinusoidal signal A.But because a certain improper property changes, the maximal value of the sinusoidal signal A recording equals minimum value that voltage S+ equals 2500mV+250mV, sinusoidal signal A and equals voltage S-and equal 2500mV-250mV in the time of actual measurement.Described microprocessor 244 gets voltage S+ and voltage S-, and calculating voltage difference is 0.5V, has 50% decay deviation with normal voltage S, illustrates that so equally the peak-to-peak value of sinusoidal signal A has 50% decay too.Described microprocessor 244 is controlled described negative feedback amplifier circuit 243 by sinusoidal signal A, normal voltage S+ and S-gain compensation 50%, outputting standard sinusoidal signal A ', and the maximal value of described standard sine signal A ' is that 3V, minimum value are 2V.In like manner, described negative feedback amplifier circuit 243 is also to cosine signal B gain compensation, outputting standard cosine signal B ', and the maximal value of described standard sine signal B ' is that 3V, minimum value are 2V.
Described incremental encoding device 145 (as analog voltage-digital signal converter, ADC) is encoded and is exported a standard increment signal (digital signal) standard sine signal A ', standard sine signal B '.Prior art has 16 high-precision ADC, and more than 10 ADC of precision has been proven technique very, the present embodiment is selected the high-speed ADC of guaranteeing 10 precision, concrete cataloged procedure can adopt existing coded system, as Fig. 6, in figure, draw the waveform of standard sine signal A ', standard sine signal B ', in these two waveforms, read respectively sine value sin φ and the cosine value cos φ of same angle φ, press mathematics trigonometric function formula sin φ 2+cos φ 2=1, utilize inverse trigonometric function to calculate the size of angle φ.But this existing coded system coding will calculate inverse trigonometric function repeatedly, computing velocity is slow, and the prerequisite that accurately calculates angle φ is standard sine signal A ', standard sine signal B ' is in 90 degree quadrature phase angles, the sine value reading from these two waveforms and cosine value are necessary for same angle, and in fact in the processing of compound absolute value encoder, be difficult to ensure card this just in time 90 degree phasing degree, for this reason, may bring very large nonlinearity erron based on 90 degree quadrature phase angle account forms, or need to just can obtain result accurately by more difficult correction.
The present embodiment also can adopt one to be more suitable for described compound absolute value encoder, can simplify the coding method of above-mentioned coding method, because sinusoidal signal A and cosine signal B have passed through the adjusting of described microprocessor 244 and described negative feedback amplifier circuit 243, having exported peak-to-peak value is standard sine signal A ' and the standard cosine signal B ' of normal voltage S, the coded object that is described incremental encoding device 145 is always sinusoidal signal and the cosine signal that peak-to-peak value is normal voltage S, so calculating accurately peak-to-peak value in one-period in the production phase of described compound absolute value encoder according to existing coded system is the angle φ of sinusoidal signal sine value sin different from the cosine signal φ of normal voltage S and the combination correspondence of cosine value cos φ, different sine value sin φ and the combination of cosine value cos φ and the corresponding relation of angle φ are stored in described storer 25, as long as the sine value of known these two waveforms and the ratio of normal voltage S, the ratio of cosine value and normal voltage S, just can determine corresponding angle φ.Suppose to have set up different sine value sin φ and the combination of cosine value cos φ and the corresponding relation of angle φ in the production phase of described compound absolute value encoder, in storage list, be deposited with in described storer 25, for example, referring to Fig. 6, in a cosine and sine signal cycle, ratio=+ 0.7071 of sine value and normal voltage S, ratio=+ 0.7071 of cosine value and normal voltage S, by tabling look-up, can obtain unique, angle value is 45 degree accurately; For another example, ratio=+ 0.7071 of sine value and normal voltage S, cosine value and normal voltage S=-0.7071, by tabling look-up, can obtain unique, angle value is 135 degree accurately.By that analogy, get final product the angle value of each fine segmentation in the picked up signal cycle.
Increase the method for standard value S by the present invention, even if sinusoidal signal A and cosine signal B do not reach the orthogonal of 90 degree, sine value is approximately linear with ratio, the cosine value of normal voltage S with the slight error of the ratio of normal voltage S, be easy to measure and revise through test and tracing analysis in the production phase, then modified value be stored in table.
Due in the production installation process of described magneto-electric absolute encoder unit 22, after permanent magnet 131 is fixed in rotating shaft 11, the magnetic field accuracy error that deviation when the material uniformity coefficient of permanent magnet 131 and installation causes is " fixed ", as Fig. 7, by rotating described rotating shaft 11, read the pulse after described photo-electric incremental encoding unit 23 and 24 calibrations of described photoelectric calibration unit in same rotating shaft 11 simultaneously and count standard increment signal, the absolute value signal of exporting with the magneto-electric absolute encoder unit 22 reading simultaneously, do same angle position at described microprocessor and synchronously contrast processing, counting accumulated value that can standard increment signal and the data difference of absolute value signal, go out the correction difference of each position taking the precision of standard increment signal as benchmark, preserve on described storer, as the correction for this positional value of magneto-electric absolute value encoder.
For example, described code-disc 21 is every circle 1024 lines (10), the resolution of commercially available magneto-electric absolute encoder unit is 14, the peak-to-peak value counting of standard cosine and sine signal adds up can be from 0-1023, reach 10, and in each signal period the inside, by 01 combination of sinusoidal signal A and cosine signal B, can there be four kinds of combinations to represent 4 split positions (00, 01, 11, 10), can obtain again thinner 2, therefore standard increment signal can obtain 12 altogether, with this standard increment signal of 12 for the magneto-electric absolute encoder unit comparison of coaxial same angle (absolute value signal 14 in get front 12 bit comparisons), and preserve modified value, can obtain 12 absolute value signal of having passed through the unit correction of type coaxial photoelectric formula incremental encoding.
For example on the position of 90 degree (USED FOR SCRATCH ON THE OPTICAL GLASS is benchmark), standard increment signal be counted as 255 (10 calculating), or be 1023 (12 calculating) after 4 subregions calculate, and 14 magneto-electric absolute encoder unit that synchronously read, after getting first 12, be 1021, the value of making up the difference of calculating is+2, storer 25 is deposited, also from now in the time reading the numerical value of magneto-electric absolute encoder unit and be 1021, should add the value of making up the difference+2, obtain the positional value 1023 through calibration, this value is in fact the preservation of standard increment signal, the impact that this value is not had a power failure, and each position is unique, therefore just by described standard increment signal correction described absolute value signal.
Described absolute value signal after calibration, namely standard absolute value signal, using the position of described code-disc 21 as calibration, be actually the position of USED FOR SCRATCH ON THE OPTICAL GLASS increment count value has been preserved in the mode of absolute value, and the segmentation of the cosine and sine signal that groove produces within a signal period, each position is unique, also be absolute value, and this segmentation is to launch on groove reference position, that benchmark aligns with the absolute value position after calibration, for this reason, using the magneto-electric absolute value signal after calibration as coarse positioning code, the information of the cosine and sine signal segmentation that photo-electric incremental encoding unit is obtained is as meticulousr bit code, two groups of data combinations, can obtain the standard absolute encoder signal of high resolving power seniority, taking the photo-electric incremental encoding unit of code-disc 1024 grooves as example, optics 1024 groove code-discs and 14 absolute encoder unit of magneto-electric are in same rotating shaft, the first photoelectric sensor, the second photoelectric sensor reads cosine and sine signal A, B and voltage S+, S-, in process of production, by synchronously reading sinusoidal signal A and cosine signal B the counting of the first photoelectric sensor, pass through A, 4 times of B combinations, obtain the angle value of 12 of 4096 resolutions, determine and preserve, and synchronously read and synchronous 14 place values of magneto-electric absolute value encoder relatively, getting first 12 compares, draw difference, be kept on each angle (4096 degree of cutting apart) positional value, obtain the absolute value position through optical correction of 12, each position has been exactly in fact the reference position of USED FOR SCRATCH ON THE OPTICAL GLASS, deposits EEPROM in.At work, read the signal of magneto-electric absolute value encoder, and each locational modified value, obtain the USED FOR SCRATCH ON THE OPTICAL GLASS reference position of the absolute value of 12, get front 10 as coarse positioning code, and by the cosine and sine signal segmentation on this groove reference position, obtain 10 meticulousr degree of cutting apart, get front 9 as meticulous bit code, this meticulous bit code is exactly the segmentation angle value on line angle degree (10 of coarse positioning codes) at the moment, for these two groups of data combinations are the complete standard increment signal of 19.
The described rotating speed computing unit 27 of the present embodiment is for calculating the rotating speed of described rotating shaft 11, and in the time that the rotating speed calculating exceedes a threshold value, stops the operation of described magneto-electric absolute encoder unit 22 and described data assembled unit 26.
Because accurate deceleration curve and accurately positioning control before compound absolute value encoder stops mainly as the moving object location in high precision measurement of angle; Or when energising starts, can directly know the exact position of startup, and start the accurate acceleration control when preliminary, for automatically controlling and bring great convenience.No matter be to stop front accurate deceleration and accurately stop location, or when energising, predict and start exact position and accurately accelerate, compound absolute value encoder rotating shaft rotating speed is all slower, and this is multi-group data collection of the present invention, adjusts and bring possibility with the electronic response combining.But compound absolute value encoder is not only the measurement under lower-speed state, also be the angle orientation sensor of the measurement in high-speed motion, also be speed, acceleration transducer simultaneously, it is by the differential seat angle of twice reading in the unit interval, can calculate rotational speed, in the time of very fast rotating speed, likely multi-channel data acquisition is adjusted and can be brought hysteresis with the electronic response combining, and causes error in data.For this reason, the present invention has retained the direct without postponing output of optical signalling cosine and sine signal simultaneously, rear portion equipment can directly be counted cumulative, or because sensor S signal is exported simultaneously, also can facilitate follow-up equipment to carry out angle sorting, that measures in high-speed motion as compound absolute value encoder supplements; And compound absolute value encoder carries out rotating speed calculating in inner MCU (microprocessor), in the time that rotating speed is very fast and likely cause output error in data because of operating lag, at a speed state signal of Data-Link leading portion output, notice rear portion equipment is used undelayed optics cosine and sine signal instead, with this compared with the cumulative displacement of the counting of coarse positioning and calculating rotating speed.
When rotating shaft 11 is when compared with the slow-speed of revolution, various calculated response meet the demands, and the data of acquisition are effectively, and the output of rotating speed status code effectively, is designated as 1.If rotating speed is very fast, likely internal calculation response lag and cause error in data may, rotating speed status code is invalid, is designated as 0.Can choose a time interval in MCU inside, for example 1ms, before and after calculating, the data difference of twice, can obtain rotary speed information.
The calculating of rotating speed, for example 2 revolutions per seconds time, twice of the front and back alternate position spike of 1ms is 2 × 360 degree/1000=0.72 degree.When but rotating speed calculates, before and after the data acquisition of twice may stride across 0 degree angle (forward or reverse, twice numerical value is on 0 degree both sides), spending with maximum angle 360 due to 0 degree angle is same position, may obtain wrong information if do not processed, need to revise for this reason:
By the rotational angle of compound absolute value encoder, from low-angle (0 degree) to wide-angle, (360 degree) is divided into three logics and judge district, 0-90 Du Wei 00th district, and 90 spend～270 Du Wei 01st district, and 270 spend-360 Du Wei 11st district, as Fig. 8:
In the time that rotating speed calculates, data partition is carried out in each data acquisition, if two secondary data front and back are not at a subregion, and when two difference He11 districts of 00 district, (be no matter be last time 00 or rear time is 00), the numerical value in 00th district should be added 360 degree full scale numerical value and be participated in rotating speed subtraction.For example: last time reading was 1 degree, 00Qu, rear reading is 359 degree, 11Qu, 1 degree in 00th district need add that 360 degree participate in calculating, i.e. 1+360=361 time subtracts last time 359-361=-2 (degree) afterwards, be also in the unit interval reverse rotation 2 spend.The rotating speed forward of calculating be on the occasion of, reversion is negative value, takes absolute value and preset value judgement, is less than or equal to preset value rotating speed slower, absolute value data signal is effective, rotating speed status code is 1; Absolute value and the preset value comparison of calculating, be greater than preset value, and rotating speed status code is recorded as 0.For example, double sampling is spaced apart 1ms, and default rotating speed state value is 5 revolutions per seconds, i.e. 1800 degree/second; Last time data acquisition was 1 Du 00th district, and rear reading is 359 degree, 11Qu, 1 degree in 00th district need add that 360 degree participate in calculating, i.e. 1+360=361 time subtracts last time 359-361=-2 (degree) afterwards, be also in the unit interval reverse rotation 2 spend.The rotating speed calculating that takes absolute value is 2/1ms=2000 degree/second, has been greater than preset rotation speed, so rotating speed status code is output as 0.More than taking " degree " as unit of account, numerical value when actual numerical value is calculated under corresponding various resolutions, for example numerical value=360 of the resolution 524288,1000 of 19 degree/524288 × 1000=0.6866 degree.
The measurement retroactive effect of described compound absolute value encoder in motion control, in the time that moving object energising starts, need to predict the exact position of starting point, and thrust output promotes moving object startup, now need to export high-resolution standard absolute value signal, and accurate accelerating curve (relevant to thrust) when low rate start; Or before needs moving object accurately stops location, need to also accurately stop locating information by the accurate deceleration curve after thicker deceleration, in the time of above-mentioned two kinds of needs situations, rotating speed is lower, rotating speed status code is effective 1, now high-resolution standard absolute value signal is effective, while guaranteeing to start, accurately predict position and accurate acceleration curve, and before location stops, the accurate deceleration curve after thick deceleration and stop positioning control precisely; Very fast when controlling after one section of Acceleration of starting rotating speed, now general control enters coarse position pattern and speed ring control model, now rotating speed is very fast, rotating speed status code is invalid 0, follow-up equipment is obtaining after this information, the standard increment signal that can use direct output instead does counting coarse position ring and speed ring calculating, or after segmentation, does thinner counting and speed calculating.
Although more than described the specific embodiment of the present invention, it will be understood by those of skill in the art that these only illustrate, protection scope of the present invention is limited by appended claims.Those skilled in the art is not deviating under the prerequisite of principle of the present invention and essence, can make various changes or modifications to these embodiments, but these changes and amendment all fall into protection scope of the present invention.
Claims (9)
1. a compound absolute value encoder, comprise the magneto-electric absolute encoder unit and the photo-electric incremental encoding unit that share a rotating shaft, described magneto-electric absolute encoder unit is used for exporting an absolute value signal, described photo-electric incremental encoding unit comprises an optical transmitting set, one lens, one has the grating of some the first slits, one code-disc being connected with described rotating shaft, one first photoelectric sensor and an incremental encoding device, the light of described optical transmitting set transmitting passes through described lens successively, after described grating and described code-disc, transfer to the input end of described the first photoelectric sensor, described the first photoelectric sensor is exported a cosine and sine signal, it is characterized in that,
Described code-disc comprises a full photic zone, described compound absolute value encoder also comprises a photoelectric calibration unit, described photoelectric calibration unit comprises: a transmittance section, one light shielding part, one second photoelectric sensor and a regulating circuit, the second slit and the 3rd slit that some and described the first slit is identical is carved with respectively with described light shielding part in described transmittance section, and described the second slit aligns with described the first slit, described the 3rd slit and described the first slit stagger completely, the input end of described regulating circuit is electrically connected with described the first photoelectric sensor and described the second photoelectric sensor respectively, the output terminal of described regulating circuit is electrically connected with described incremental encoding device,
Transfer to respectively the input end of described the second photoelectric sensor by described transmittance section and described light shielding part from the light of described full photic zone transmission, described the second photoelectric sensor output one first voltage and second voltage, described regulating circuit regulates described cosine and sine signal to export a standard cosine and sine signal according to described the first voltage, described second voltage and a normal voltage, and described incremental encoding device encodes to export a standard increment signal to described standard cosine and sine signal;
Described compound absolute value encoder also comprises a data assembled unit, for combining described absolute value signal and described standard increment signal, to export a standard absolute value signal.
2. compound absolute value encoder as claimed in claim 1, is characterized in that, the peak value of described standard cosine and sine signal equals described normal voltage, and the cycle of described standard cosine and sine signal equals the cycle of described cosine and sine signal.
3. compound absolute value encoder as claimed in claim 2, it is characterized in that, described regulating circuit comprises a negative feedback amplifier circuit and a microprocessor, described microprocessor is for calculating the standard enlargement factor that the voltage difference of described the first voltage and described second voltage is amplified to described normal voltage, and the enlargement factor that regulates described negative feedback amplifier circuit equals described standard enlargement factor, described negative feedback amplifier circuit is for amplifying described cosine and sine signal according to described enlargement factor.
4. compound absolute value encoder as claimed in claim 1, it is characterized in that, described data assembled unit is for intercepting a coarse positioning absolute value signal from described absolute value signal, from described standard increment signal, intercept a fine positioning standard increment signal, then by described coarse positioning absolute value signal and described fine positioning standard increment signal combination and export described standard absolute value signal.
5. compound absolute value encoder as claimed in claim 4, it is characterized in that, described compound absolute value encoder also comprises a storer, be used for storing described absolute value signal, described standard increment signal and described standard absolute value signal, and described storer is connected with described data assembled unit.
6. compound absolute value encoder as claimed in claim 5, is characterized in that, described storer also stores the corresponding relation of described absolute value signal and described standard absolute value signal.
7. compound absolute value encoder as claimed in claim 1, it is characterized in that, described compound absolute value encoder also comprises a rotating speed computing unit, described rotating speed computing unit is for calculating the rotating speed of described rotating shaft, and in the time that the rotating speed calculating exceedes a threshold value, stop the operation of described magneto-electric absolute encoder unit and described data assembled unit.
8. compound absolute value encoder as claimed in claim 7, it is characterized in that, the angle of described rotating speed computing unit by absolute value signal described in twice of continuous acquisition and/or described cosine and sine signal, obtain the differential seat angle of twice angle and the time interval of collection to calculate described rotating speed.
9. compound absolute value encoder as claimed in claim 8, it is characterized in that, in the angle collecting at described rotating speed computing unit, if one be scope 0 degree to the low-angle of 90 degree and another for scope at 270 degree the wide-angle to 360 degree, described differential seat angle equal described low-angle and 360 degree sums deduct again described wide-angle, or the difference that equals described wide-angle and described low-angle deducts 360 degree again.
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