CN104215268A - Sextuple hardware interpolation method for laser rotary coded signals - Google Patents

Abstract

The invention discloses a sextuple hardware interpolation method for laser rotary coded signals. Sextuple interpolation of the coded signals is completed based on the trigonometric function via pure-hardware logic, and the method has synchronous real-time occurrence characteristic of the signals and is used for high-precision position control.

Description

A kind of laser rotary coded signal hardware six times of interpolation methods

Technical field

The invention belongs to photoelectric field, be specifically related to laser rotary coded signal hardware six times of interpolation methods.

Background technology

Laser rotary coded signal is the signal for precision positioning that laser rotary scrambler sends.By the channel B signal of A channel sinusoidal signal and phase place mutual deviation 90 ° with it, and form for the index pulse of initial alignment.Control system can obtain motor position and rotating information by detecting A, B signal.In general, under desired motor drives, laser rotary scrambler often rotates a circle, and the more positioning precisioies of the umber of pulse that can produce are also higher.The physics of laser rotary scrambler exports umber of pulse and be up to 81,000 lines under present condition.The sample rate of computing machine is then far away higher than it.In order to improve positioning precision, improving the real-time controlled, just needing to carry out synchronization hardware interpolation to coded signal.

Summary of the invention

The object of this invention is to provide a kind of laser rotary coded signal hardware six times of interpolation methods, to improve the real-time of existing motor positioning precision and control.

In order to achieve the above object, the technical solution adopted in the present invention is a kind of laser rotary coded signal hardware six times of interpolation methods based on trigonometric function principle, it is characterized in that: set α 0, α 1, α 2, α 3, α 4, α 5 as phase angle corresponding to A channel interpolated signal rising edge, be respectively 0 °, 30 °, 60 °, 90 °, 120 °, 150 °; If α 6, α 7, α 8, α 9, α 10, α 11 are the phase angle that A channel interpolated signal negative edge is corresponding, be respectively 15 °, 45 °, 75 °, 105 °, 135 °, 165 °.

1. R38, R48, R50, R55, R56, R75 is connected at signal; 2. signal is connected to R92, R102, R82, R119, R100 simultaneously; When 3. signal is connected to R39, R49, R57, R59, R76, R81, R91, R93, R98, R99, R118 simultaneously, produce pulse edge, phasing degree through LM360 comparer, then through 74HC86 XOR gate, 74HC32 or door, final output A channel interpolated signal.

Channel B interpolated signal production method and A channel just the same, the signal just produced and A channel phase place mutual deviation 90 °

Accompanying drawing explanation

Fig. 1 signal adjustment circuit.

Fig. 2 interpolation phase angle control logic circuit.

Fig. 3 interpolated signal input and output contrast figure.

Fig. 4 is interpolation phase angle control method figure.

Embodiment

As shown in Figure 4.Interpolation phase angle control method labor:

$V_O=\±\sin \mathrm{\α}\frac{R2}{R1+R2}+\cos \mathrm{\α}\frac{R1}{R1+R2}$

N5 → signal 1. → input terminal voltage=sin α

1., 3. N7 → signal brings formula sin (alpha+beta)=sin α cos β+cos α sin β into

Tan β=R1/R2=1.8/3.12 → β=30 ° → input terminal voltage=sin (α+30 °)

1., 3. N9 → signal brings formula sin (alpha+beta)=sin α cos β+cos α sin β into

Tan β=3.12/1.8 → β=60 ° → input terminal voltage=sin (α+60 °)

N11 → signal 3. → input terminal voltage=sin (α+90 °)

3., 2. N15 → signal brings formula sin (β-α)=sin β cos α-cos β sin α into

Tan β=3.12/1.8 → β=60 ° → input terminal voltage=sin (60 ° of-α)=sin (α+120 °)

3., 2. N13 → signal brings formula sin (β-α)=sin β cos α-cos β sin α into

Tan β=1.8/3.12 → β=30 ° → input terminal voltage=sin (30 ° of-α)=sin (α+150 °)

On the basis of the above resistance value of design, as Fig. 2: 1. signal is connected to R38, R48, R50, R55, R56, R75; 2. signal is connected to R92, R102, R82, R119, R100 simultaneously; 3. signal is connected to R39, R49, R57, R59, R76, R81, R91, R93, R98, R99, R118 simultaneously.7th pin of comparer N5 produces 0 ° of phasing degree rising edge of a pulse; 7th pin of comparer N7 produces 30 ° of phasing degree rising edge of a pulses; 7th pin of comparer N9 produces 60 ° of phasing degree rising edge of a pulses; 7th pin of comparer N11 produces 90 ° of phasing degree rising edge of a pulses; 7th pin of comparer N15 produces 120 ° of phasing degree rising edge of a pulses; 120 °; 7th pin of comparer N13 produces 150 ° of phasing degree rising edge of a pulses.15 °, interpolated signal phasing degree, 45 °, 75 °, 105 °, 135 °, 165 ° negative edges produce respectively by comparer N6, N10, N8, N14, N16, N12 as a same reason.Shown in Fig. 2, LM360 comparer produce along pulse respectively by 74HC86 XOR gate D1, D2; A, channel B interpolated signal is completed with 74HC32 or door D3, D4.

Claims (2)

1. a laser rotary coded signal hardware six times of interpolation methods, it is characterized in that: A, B signal exported at laser rotary scrambler is sinusoidal signal, phase place mutual deviation 90 degree, amplitude is ± condition of 1V under, realize signal interpolation by following steps, signal adjustment circuit is as Fig. 1:

(1) A channel signal adjustment:

Adjustment R10, R15 potentiometer N1B:7 is exported sine wave that peak-to-peak value is 7.48V, positive-negative half-cycle symmetry, namely signal 1.=N1B:7=3.74sin (α)

Adjustment R4, R9 potentiometer N1A:1 is exported sine wave that peak-to-peak value is 7.48V, positive-negative half-cycle symmetry, namely signal 2.=N1A:1=3.74sin (α+180 °), signal 1. with signal 2. phase place mutual deviation 180 °;

(2) channel B signal adjustment:

Adjustment R24, R28 potentiometer N2B:7 is exported sine wave that peak-to-peak value is 7.48V, positive-negative half-cycle symmetry, namely signal 3.=N2B:7=3.74sin (α+90 °),

Signal 3. with signal 1., signal 2. phase place mutual deviation 90 °;

(3) interpolation phase angle control logic circuit is as Fig. 2: by signal 1., signal 2., 3. signal be input to the interpolation phase angle control logic circuit of the device such as LM360,74HC86,74HC32 composition, finally exports A channel interpolated signal at X2:10; Channel B interpolated signal is exported at X2:8.

2. a kind of laser rotary coded signal hardware according to claim 1 six times of interpolation methods, it is characterized in that: set α 0, α 1, α 2, α 3, α 4, α 5 as phase angle corresponding to A channel interpolated signal rising edge, be respectively 0 °, 30 °, 60 °, 90 °, 120 °, 150 °; If α 6, α 7, α 8, α 9, α 10, α 11 are the phase angle that A channel interpolated signal negative edge is corresponding, be respectively 15 °, 45 °, 75 °, 105 °, 135 °, 165 °;

1. R38, R48, R50, R55, R56, R75 is connected at signal, 2. signal is connected to R92, R102, R82, R119, R100 simultaneously, when 3. signal is connected to R39, R49, R57, R59, R76, R81, R91, R93, R98, R99, R118 simultaneously, phasing degree rising edge of a pulse and negative edge is produced through LM360 comparer, again through 74HC86 XOR gate, 74HC32 or door, finally export A channel interpolated signal at X2:10, export channel B interpolated signal at X2:8, the channel B interpolated signal of generation and A channel interpolated signal phase place mutual deviation 90 ° simultaneously.