CN103983291B - Coding method of photomagnetic coder - Google Patents
Coding method of photomagnetic coder Download PDFInfo
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- CN103983291B CN103983291B CN201410224926.9A CN201410224926A CN103983291B CN 103983291 B CN103983291 B CN 103983291B CN 201410224926 A CN201410224926 A CN 201410224926A CN 103983291 B CN103983291 B CN 103983291B
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Abstract
The invention discloses a photomagnetic coder and a coding method thereof. The photomagnetic coder comprises a magnetic detection part, an optical detection part and a control circuit unit, wherein an analog-to-digital conversion circuit, a starting position calculating circuit and a rotating angle calculating circuit are arranged in the control circuit unit, analog signals of the optical detection part are converted into digital signals through the analog-to-digital conversion circuit, digital signals of the magnetic detection part are combined, starting position signals of the coder when the coder is powered on are determined, and after the coder is powered on, rotating angle signals are output through the digital signals output by the analog-to-digital conversion circuit and the combination of the starting position signals. The mode of combining a magnetic coder and an optical coder is adopted in the photomagnetic coder, absolute position coding signals can be output every time the coder is powered on, and the coder has the advantages of being small in size and high in precision.
Description
Technical field
The invention belongs to encoder techniques field, and in particular to a kind of smooth magnetic coder and its coded method.
Background technology
Absolute type encoder, is usually used in measuring the anglec of rotation of instrument or equipment and calibration.Traditional absolute type
Coding, as coding digit is different, required precision is different, corresponding code-disc area, detection head quantity will be scaling up.
Under many occasions, need to meet high-precision while meeting the compact requirement of coder structure.At present, new absolute type encoder
It is generally basede on the modes such as indexing-matrix coder, M sequence pseudo noise code to be encoded.Compared with traditional absolute encoding, above-mentioned two
Plant absolute type and be obtained in that described pseudo noise code coded system can reduce code-disc/grid chi area, reduce detection head quantity, subtract
Still ensure the requirement of high-precision high-speed while lower Item device size.The encoder of pseudo noise code coding form, due to being
Using serial code, if caused in the information before not preserving last time power-off, photoelectric coder is gone up again cannot obtain reality
Real angle information, so as to the physical location that needs encoder to turn an angle could to obtain reality, (anglec of rotation is with coding
Digit is different and different), therefore, belong to a kind of Virtual absolute encoder.The encoder of indexing-matrix coder form, belongs to pure
Absolute type encoder, but its volume is commonly greater than the encoder based on pseudo noise code coding.Therefore the new absolute type of above two
Encoder, still has the shortcomings that volume is big, loses information after power down.
The content of the invention
The present invention provides the coded method of a kind of smooth magnetic coder and light magnetic coder, by the magnetic coding of absolute type and increasing
The pumped FIR laser of amount formula combines, and overcomes existing absolute type encoder volume greatly, and after incremental encoder power down information is lost
Problem.
To achieve these goals, light magnetic coder of the invention, including：Magnetic detector, including magnet and Magnetic Sensor,
Magnet is fixedly mounted in live spindle, and according to live spindle magnet rotation is rotarily driven, and from Magnetic Sensor output numeral
Signal；Optical detection part, including light source, code-disc, quiet grating and optical sensor, the light irradiation code-disc and quiet grating of light source, pass through
The code-disc that rotarily drives of live spindle rotates, and exports analogue signal from optical sensor；Control circuit unit, connects respectively magnetic and passes
The analogue signal of sensor and optical sensor, the digital signal exported using Magnetic Sensor and optical sensor output is calculated and determined
The anglec of rotation of live spindle；
Described control circuit unit includes：Analog to digital conversion circuit, is connected with the optical sensor of optical detection part, by light sensing
The analogue signal of device output is converted to digital signal；Original position counting circuit, connects respectively Magnetic Sensor with analog digital conversion electricity
Road, the digital signal of analog to digital conversion circuit output and the digital signal of magnetic detector output calculate and export starting when profit has access to electricity
Position signalling；Anglec of rotation counting circuit, connects respectively original position counting circuit and analog to digital conversion circuit, profit have access to electricity after mould
The digital signal of number change-over circuit output, and initial position signal when upper electric, calculate and export rotation angle signal.
Described code-disc is provided with A phase code channels and B phase code channels, and A phases code channel and B phase code channels that phase contrast is 90 °
All it is respectively equipped with 2NThe individual light shielding part being spacedly distributed and transmittance section.
Preferably, described code-disc is provided with the A phase code channels and A ＇ phase code channels that phase contrast is 180 °, with A phase code channel phase places
Difference is 90 ° of B phase code channels, and B ＇ phase code channels that B phase code channel phase contrasts are 180 °, and A phase code channels, A ＇ phase code channels, B phase codes
2 are respectively equipped with road, B ＇ phase code channelsNThe individual light shielding part being spacedly distributed and transmittance section.
Preferably, described analog to digital conversion circuit includes A phase differential amplifier circuits, B phases differential amplifier circuit and AD conversion
Device, A phase differential amplifier circuits, B phases differential amplifier circuit respectively connect optical sensor and a/d converter.
The coded method of the light magnetic coder of the present invention, its step includes：S1:On encoder during electricity, revolved according to encoder
Turn the rotation of main shaft, from the magnetic detector digital signal X1 of Magnetic Sensor output, retain its high N position and process, so as to rotation be led
The scope that axle rotates a circle is divided into 2NIndividual zoning Z；S2：From the optical detection part analogue signal of optical sensor output, pass through
After analog to digital conversion circuit, A phases digital signal and B phase digital signals are exported respectively, in original position counting circuit, by the A numbers of phases
Word signal and B phases digital signal carry out division arithmetic, arctangent cp cp operation, obtain the position of original position place light detection cycle △
Amount signal Y；S3:Judge whether the magnetic detector digital signal X1 that original position is exported exceedes in light detection cycle △ at its place
Magnetic detector zoning Z boundary value；It is when not less than boundary value, the magnetic detector digital signal X1 of high N positions is direct
With the position quantity signal Y union operations of optical detection part, original position signal is obtained；When more than boundary value, the magnetic of high N positions is examined
The N positions " subtracting 1 " of survey portion digital signal X1 afterwards with the position quantity signal union operation of optical detection part, obtain original position signal；
S4：On encoder after electricity, with reference to A phase digital signals, B phases digital signal and original position signal, the anglec of rotation is calculated and exported
Signal.
Preferably, magnetic detector digital signal X1 and position quantity signal Y are done into subtraction, the light inspection that original position is located
The N+1 positions of the corresponding magnetic detector digital signal X2 of starting point of survey cycle △, magnetic detector digital signal X2 are 0, then illustrate
The starting point of light detection cycle △ is located at the front half section of zoning Z, and during judgement, the N+1 positions of magnetic detector digital signal X1 are
0, and position quantity signal Y is more than the intermediate value of light detection cycle △, then illustrate that magnetic detector digital signal X1 has exceeded boundary value
M；Otherwise it is not less than boundary value M；If the N+1 positions of magnetic detector digital signal X2 are 1, light detection cycle △ is illustrated
Starting point is located at the second half section of zoning Z, and during judgement, the N+1 positions of magnetic detector digital signal X1 are 1, and position quantity signal Y
Less than the intermediate value of light detection cycle △, then illustrate magnetic detector digital signal X1 not less than boundary value M；Otherwise for more than side
Dividing value M.
Preferably, on encoder during electricity, from the magnetic detector digital signal X1 of Magnetic Sensor output, retain at its high N position
Reason, wherein N≤11.
As a result of above-mentioned technical proposal, the invention has the beneficial effects as follows：
The light magnetic coder of the present invention, the pumped FIR laser of the magnetic coding of absolute type and increment type is combined, and is being gone up each time
The absolute coding of original position can be obtained when electric, a kind of absolute type encoder is formed, there is small volume, high precision.
Description of the drawings
Fig. 1 is the light magnetic coder sectional view of the present invention.
Fig. 2 is the control circuit unit block diagram of the light magnetic coder of the present invention.
Fig. 3 is the code-disc plane graph of the present invention.
The step of Fig. 4 is the coded method of the light chinaware of the present invention is schemed.
Fig. 5 is the union operation explanatory diagram of the present invention.
Fig. 6 is the explanatory diagram of the position quantity signal Y of the present invention.
Fig. 7 is the code-disc partial enlarged drawing of embodiments of the invention 1.
Fig. 8 is the code-disc partial enlarged drawing of embodiments of the invention 2.
Labelling in figure：
10- control circuit units, 11- analog to digital conversion circuits, 11A-A phase differential amplifier circuits, 11B-B phases differential amplification electricity
Road, 11C-AD transducers, 12- anglec of rotation counting circuits, 13- original position counting circuits, 20- magnetic detectors, 21- magnetic sensing
Device, 22- magnets, 30- optical detection parts, 31- light sources, 32- code-discs, 32A-A phase code channels, 32A ＇-A ＇ phase code channels, 32B-B phase code channels,
32B ＇-B ＇ phase code channels, the quiet gratings of 33-, 34- optical sensors, 40- live spindles.
Specific embodiment
Reference picture 1-3, the light magnetic coder specific embodiment of the present invention, including magnetic detector 20, optical detection part 30, control
Circuit unit processed 10.Wherein magnetic detector 20 includes magnet 22 and Magnetic Sensor 21, and magnet 22 is fixedly mounted on live spindle 40
On, rotated according to the magnet 22 that rotarily drives of live spindle 40, and from the output digit signals of Magnetic Sensor 21.Optical detection part 30 is wrapped
Include light source 31, code-disc 32, quiet grating 33 and optical sensor 34, the light irradiation code-disc 32 and quiet grating 33 of light source 31, by rotation
The code-disc 32 that rotarily drives for turning main shaft 40 rotates, and exports analogue signal from optical sensor 34.
Control circuit unit 10 includes analog to digital conversion circuit 11, original position counting circuit 13 and anglec of rotation counting circuit
12, analog to digital conversion circuit 11 includes A phases differential amplifier circuit 11A, B phase differential amplifier circuit 11B and a/d converter 11C, A differences
Amplifying circuit 11A, B phase differential amplifier circuit 11B is divided respectively to connect optical sensor 34 and a/d converter 11C.A/d converter 11C
Outfan be connected respectively in original position counting circuit 13 and anglec of rotation counting circuit 12.13 points of original position counting circuit
Not Lian Jie Magnetic Sensor 21 and analog to digital conversion circuit 11, the digital signal exported using upper analog to digital conversion circuit 11 and Magnetic Sensor
The digital signal of 21 outputs calculates and exports original position signal.Anglec of rotation counting circuit 12 connects respectively original position and calculates electricity
Road 13 and analog to digital conversion circuit 11, profit have access to electricity after the output of analog to digital conversion circuit 11 increment type digital signal, Yi Jichu
Beginning position signalling, calculates and exports rotation angle signal.
Code-disc 32 is provided with the A phase code channel 32A and B phase code channel 32B that phase contrast is 90 °, and A phase code channel 32A and B phases
2 are all respectively equipped with code channel 32BNThe individual light shielding part being spacedly distributed and transmittance section.In order to increase the mould of the output of optical sensor 34
Intend the anti-interference of signal, the A ＇ phase code channel 32A ＇ and B ＇ phase code channel 32B ＇ that phase contrast is 90 ° are set again on code-disc 32, and
The phase contrast of A phase code channel 32A and A ＇ phase code channel 32A ＇ is 180 °.Also it is respectively equipped with A ＇ phase code channel 32A ＇, B ＇ phase code channel 32B ＇
2NThe individual light shielding part being spacedly distributed and transmittance section.
Reference picture 4- Fig. 8, the coded method of the light magnetic coder of the present invention, by following two embodiments come specifically
It is bright.
Embodiment 1：
S1：On encoder during electricity, according to the rotation of encoder live spindle 40, from the magnetic detector of the output of Magnetic Sensor 21
Digital signal X1 is 0,001 0,001 0,001 0001, retains its high N position, and the present embodiment N takes 8, and it is 0001 to retain after most-significant byte
0001 0,000 0000, so as to the scope that live spindle 40 rotates a circle is divided into into 28The individual division that can meet required precision
Region Z.Retaining the purpose of high N positions is, when the magnetic encoding section 20 using 16, its resolution can reach 16, but energy
Enough precision for determining are at best able to reach at maximum up to 11.So the present embodiment is in order to be able to reaching higher required precision, magnetic
Test section digital signal X1 retains most-significant byte.Simultaneously A, A ＇, B, B ＇ phase code channels of the code-disc 32 of optical detection part 30 also are provided with 28Individual screening
Light portion and transmittance section, when the light distribution of light source 31 is radiated at A, A ＇, B, B ＇ phase code channels of code-disc 32, can respectively export and have
The sine wave signal of certain phase contrast.
S2：From the optical detection part analogue signal of the output of optical sensor 34, after analog to digital conversion circuit 11, A is exported respectively
Phase digital signal 1,000 1010 (decimal number 10, symbol is for just) and B phases digital signal 1,001 0100 (decimal number 20, symbol
Number for just).A/d converter 11C adopts 8 bit resolutions, and highest order is sign bit, and when highest order is negative for 0, it is just to be 1.
As shown in Figure 6, A phases digital signal and B phase digital signals are all located at first quartile, after division arithmetic, A/B
=0.5, then through arctangent cp cp operation arctan (A/B), angle value is tried to achieve for 26 °.Due to A phases code channel and the phase place of B phase code channels
Difference is 90 °, and in the present embodiment, in rotate counterclockwise, A phase signals fall behind 90 °, therefore A phases numeral letter to code-disc 32 than B phase signals
Number respectively corresponding analog signalses are sin θ and cos θ with B phases digital signal, by division arithmetic, i.e. A/B=sin θ/cos θ
=tan θ, then by arctangent cp cp operation, arctan (tan θ), you can θ values are obtained, the θ of the present embodiment is 26 °.If code-disc 32
During to turn clockwise, A phase signals are more advanced than B phase signals 90 °, therefore A phases digital signal and B phases digital signal difference are corresponding
Analog signalses are sin θ and-cos θ, by division arithmetic, i.e. A/B=sin θ/- cos θ=- tan θ, are carrying out arc tangent fortune
Before calculation, needs first take A/B after opposite number, then carry out arctangent cp cp operation, i.e. arctan (- A/B), you can obtain θ values.
Light detection cycle △ is finely divided, subdivision number the present embodiment takes 256 parts, then by 26 °/360 ° * 256=
18.5, round as 19, the position quantity signal Y for obtaining original position place light detection cycle △ is 19, and corresponding binary number is
0001 0011 (after the subdivision of light detection cycle △, from its origin-to-destination, corresponding binary number be from 0,000 0000 to
1111 1111)。
S3：With reference to Fig. 7, the 0001 0,001 0,001 0001 of the magnetic detector digital signal X1 that original position is exported are judged
Whether the boundary value M of magnetic detector 20 zoning Z light detection cycle △ at its place in is exceeded.
The digital signal X1 (0,001 0,001 0,001 0001) of magnetic detector 20 is done with position quantity signal Y (0,001 0011)
Subtraction, obtains the corresponding magnetic detector digital signal X2 (0001 of starting point of light detection cycle △ at original position place
0000 1,111 1110), and the 9th of magnetic detector digital signal X2 is 1, then illustrate that the starting point of light detection cycle △ is located at and divide
The second half section of region Z, the error condition of light detection cycle △ and magnetic detector zoning Z is illustrated, belong to feelings shown in Fig. 7
Condition.During judgement, the 9th of magnetic detector digital signal X1 (0,001 0,001 0,001 0001) is 0, illustrates the magnetic detector number
Word signal X1 is located at the front half section of zoning Z, and position quantity signal Y (0,001 0011) is less than the centre of light detection cycle △
Value 128, then illustrate that magnetic detector digital signal X1 (0,001 0,001 0,001 0001) has exceeded boundary value M.
When boundary value M is exceeded, magnetic detector digital signal X1 is retained (0,001 0,001 0000 after most-significant byte
0000) the 8th subtracts 1, and (0,001 0,000 0,000 0000) close afterwards with position quantity signal Y (0,001 0011) of optical detection part 30
Union, obtains original position signal (0,001 0,000 0,001 0011).The process of union operation, will lowest order alignment, so
Afterwards by turn with computing, obtain last operation result.
S4：On encoder after electricity, the A phases digital signal and B phase digital signals of combination are rotated again to after certain angle, shape
Into increment signal, with reference to original position signal (0,001 0,000 0,001 0011), calculated using conventional light increment type coding
Method, obtains rotation angle signal.Because light increment type encryption algorithm is prior art, therefore will not be described here.
Embodiment 2：
S1：On encoder during electricity, according to the rotation of encoder live spindle 40, from the magnetic detector of the output of Magnetic Sensor 21
Digital signal X1 is 0,001 1,101 0,001 0001, is retained after its most-significant byte for 0,001 1,101 0,000 0000 so as to rotate
The scope that main shaft 40 rotates a circle is divided into 28Individual zoning Z.While A, A ＇, B, B ＇ phase codes of the code-disc 32 of optical detection part 30
Road also is provided with 28Individual light shielding part and transmittance section.
S2：From the optical detection part analogue signal of the output of optical sensor 34, after analog to digital conversion circuit 11, A is exported respectively
Phase digital signal 0,000 1010 (decimal number 10, symbol is negative) and B phases digital signal 0,001 0100 (decimal number 20, symbol
Number it is negative), as shown in Figure 6, A phases digital signal and B phase digital signals are all located at fourth quadrant, after division arithmetic, A/B
=0.5, then through arctangent cp cp operation, angle value is tried to achieve for 26 °, due in fourth quadrant, so actual corners angle value should be
360 ° -26 °=334 °.Light detection cycle △ is finely divided, subdivision fraction takes 256, then by 334 °/360 ° * 256=237.5,
Round as 238, the position quantity signal Y for obtaining original position place light detection cycle △ is 238, corresponding binary number is 1110
1110。
S3：With reference to Fig. 8, the 0001 1,101 0,001 0001 of the magnetic detector digital signal X1 that original position is exported are judged
Whether the boundary value M of magnetic detector 20 zoning Z light detection cycle △ at its place in is exceeded.
Magnetic detector digital signal X1 (0,001 1,101 0,001 0001) is done with position quantity signal Y (1,110 1110) and is subtracted
Method computing, the corresponding magnetic detector digital signal X2 of starting point for obtaining light detection cycle △ at original position place is 0001
The 9th of 1100 0,010 0011, magnetic detector digital signal X2 is 0, then illustrate that the starting point of light detection cycle △ is located at and divide
The front half section of region Z, during judgement, the 9th of magnetic detector digital signal X1 (0,001 1,101 0,001 0001) is 0, illustrates X1
Positioned at the front half section of zoning Z, and position quantity signal Y (1,110 1110) is more than the intermediate value 128 of light detection cycle △, then
Illustrate that magnetic detector digital signal X1 (0,001 1,101 0,001 0001) has exceeded boundary value M.
When boundary value M is exceeded, magnetic detector digital signal X1 is retained (0,001 1,101 0000 after most-significant byte
0000) the 8th subtracts 1, and (0,001 1,100 0,000 0000) close afterwards with position quantity signal Y (1,110 1110) of optical detection part 30
Union, obtains original position signal (0,001 1,100 1,110 1110).
S4：On encoder after electricity, the A phases of combination and the increment signal of B phases, and original position signal (0,001 1100
1110 1110), with conventional light increment type encryption algorithm, obtain rotation angle signal.
Claims (2)
1. a kind of coded method of smooth magnetic coder, it is characterised in that include：
S1:On encoder during electricity, according to the rotation of encoder live spindle (40), from the magnetic detector of Magnetic Sensor (21) output
Digital signal X1, retains its high N position and processes, so as to the scope that live spindle (40) rotates a circle is divided into into 2NIndividual zoning
Z；
S2：From the analogue signal of optical sensor (34) output, after analog to digital conversion circuit (11), A phases numeral letter is exported respectively
Number and B phase digital signals, in original position counting circuit (13), A phases digital signal and B phases digital signal are carried out into division fortune
Calculation, arctangent cp cp operation, obtain the position quantity signal Y of original position place light detection cycle △；
S3:Judge the magnetic whether the magnetic detector digital signal X1 that original position is exported exceedes in light detection cycle △ at its place
The boundary value M of test section (20) zoning Z；It is when not less than boundary value M, the magnetic detector digital signal X1 of high N positions is straight
The position quantity signal Y union operations with optical detection part (30) are connect, original position signal is obtained；When more than boundary value M, by high N
Position magnetic detector digital signal X1 N positions " subtracting 1 " afterwards with the position quantity signal union operation of optical detection part (30), risen
Beginning position signalling；
S4：On encoder after electricity, with reference to A phase digital signals, B phases digital signal and original position signal, rotation is calculated and exported
Angular signal；
Magnetic detector digital signal X1 and position quantity signal Y are done into subtraction, light detection cycle △ that original position is located
The N+1 positions of the corresponding magnetic detector digital signal X2 of starting point, magnetic detector digital signal X2 are 0, then illustrate light detection cycle
The starting point of △ is located at the front half section of zoning Z；During judgement, the N+1 positions of magnetic detector digital signal X1 are 0, and position quantity
Signal Y then illustrates that magnetic detector digital signal X1 has exceeded boundary value M more than the intermediate value of light detection cycle △；Otherwise for not
More than boundary value M；
If the N+1 positions of magnetic detector digital signal X2 are 1, the starting point for illustrating light detection cycle △ is located at zoning Z
Second half section；During judgement, the N+1 positions of magnetic detector digital signal X1 are 1, and position quantity signal Y is less than light detection cycle △
Intermediate value, then illustrate magnetic detector digital signal X1 not less than boundary value M；Otherwise for more than boundary value M.
2. coded method according to claim 1, it is characterised in that on encoder during electricity, from Magnetic Sensor (21) output
Magnetic detector digital signal X1, retain its high N position and process, wherein N≤11.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US10113888B2 (en) | 2015-03-03 | 2018-10-30 | Canon Kabushiki Kaisha | Position detection apparatus, apparatus including the same and position detection method |
| CN108827352B (en) * | 2018-06-29 | 2021-08-27 | 广东工业大学 | Encoder and coded disc thereof |
| CN109798928B (en) * | 2019-01-23 | 2022-01-28 | 长春理工大学 | Full-range precision detection method of shaft-position encoder based on rotation angle reciprocal |
| CN110345976B (en) * | 2019-07-26 | 2020-03-27 | 浙江禾川科技股份有限公司 | Magneto-optical hybrid encoder system |
| CN110260900B (en) * | 2019-07-26 | 2020-05-19 | 浙江禾川科技股份有限公司 | Position determination method, device and equipment of hybrid encoder and readable storage medium |
| CN113050699B (en) * | 2020-08-30 | 2024-01-12 | 惠州华阳通用电子有限公司 | Control method and device based on magnetic encoder |
| CN112880712A (en) * | 2021-01-18 | 2021-06-01 | 珠海格力电器股份有限公司 | Magneto-optical absolute encoder, and method and device for determining position of moving equipment |
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