CN104536359A - Tunable filter transmission and control system and zero point adjustment method thereof - Google Patents
Tunable filter transmission and control system and zero point adjustment method thereof Download PDFInfo
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- CN104536359A CN104536359A CN201410802100.6A CN201410802100A CN104536359A CN 104536359 A CN104536359 A CN 104536359A CN 201410802100 A CN201410802100 A CN 201410802100A CN 104536359 A CN104536359 A CN 104536359A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/048—Monitoring; Safety
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
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Abstract
The invention relates to the field of positioning of transmission and control systems, in particular to a tunable filter transmission and control system and a zero point adjustment method of the tunable filter transmission and control system. After the system is powered on, a controller executes an initialization process. The initialization process mainly includes the step that whether the zero point position is detected or not and whether the zero point position is positioned or not are judged. The initialized zero regulation process is conducted through outage, coupling angular position regulation, power-on again and other steps. By means of the steps, the whole system can be made to be in an initialized state, namely the zero point position. If the operation that a zero point is regulated to the center of a grating photic zone does not exists, it means that the zero point position is not controlled, the zero point location position is random, and the fault that the zero point is missing occurs easily, and it is guaranteed that the initial zero point is stable and reliable in position by controlling the zero point location position.
Description
Technical field
The present invention relates to the positioning field of transmission and control system, particularly relate to a kind of for adjustable filter transmission and control system and zero point adjusting method thereof.
Background technology
When kinematic train does not adopt the kind of drive of harmonic wave drive speed reducer (kind of drive one), the degree of regulation of system spindle is entirely by the resolution of photoelectric encoder, and the stepper motor needing driving force larger, could to realize adjustable filter fast, hair-breadth tuning and location, theory diagram is shown in Fig. 1.
When kinematic train adopts the kind of drive of harmonic wave drive speed reducer (kind of drive two), the degree of regulation of system is relevant with harmonic wave reduction gear ratio product to the resolution of photoelectric encoder, therefore in the degree of regulation of the whole kinematic train resolution that can be split in photoelectric encoder and harmonic wave reduction gear ratio.
Because the kind of drive one requires higher for the parameters of operating part such as stepper motor, photoelectric encoder, and whole transmission and control system, scarce capacity on lifting tuning precision and speed.Therefore current adjustable filter kinematic train adopts the kind of drive two substantially.
But the kind of drive two still has deficiency, main manifestations is the skew or missing of position, benchmark angle at zero point sporadic fixed amount, facts have proved its reliability and accuracy poor.
Position, benchmark angle at zero point fixed amount shift fault pattern as shown in Figure 2.(correct filter shape should be f0=300MHz, and factual error waveform is but at f0=305MHz).The missing fault mode in position, benchmark angle at zero point, causes system spindle perseverance to turn, system initialization failure.
Therefore, need a kind of to be used for adjustable filter transmission and control system and zero point adjusting method thereof, reliability and the accuracy of transmission and control system location can be promoted.
Summary of the invention
Technical matters to be solved by this invention is: provide a kind of for adjustable filter transmission and control system and zero point adjusting method thereof, can promote reliability and the accuracy of transmission and control system location.
In order to solve the problems of the technologies described above, the technical solution used in the present invention is:
For a zero point adjusting method for adjustable filter transmission and control system, comprising:
S100, system electrification, controller performs initialization procedure, and described initialization procedure for detecting null position, and is positioned at null position; Described null position is middle position, grating photic zone;
Whether the initialization procedure of S200, determining step S100 detects null position, if not, then enters step S300; If so, then step S400 is entered;
S300, system cut-off, regulate position, shaft coupling angle, return step S100;
Whether the initialization procedure of S400, determining step S100 is positioned at null position, if not, then enters step S500; If so, then step S600 is entered;
S500, system cut-off, regulate position, shaft coupling angle according to controller instruction, return step S100;
S600, controller initialization have been located.
Another technical scheme that the present invention adopts is:
A kind of for adjustable filter transmission and control system, comprise scrambler, shaft coupling, motor, speed reduction unit and controller; Described scrambler is connected with motor by shaft coupling, described motor is connected with speed reduction unit, be provided with a main shaft, one end of described main shaft is connected with speed reduction unit, and the other end of described main shaft is connected with wave filter, and described main shaft is provided with grating, described grating is coaxial with main shaft, described grating comprises photic zone and alternatively non-transparent district, is provided with a photoelectricity door, and described photoelectricity door and grating have fixing relative position; Described scrambler and photoelectricity door are electrically connected with controller, and described controller is electrically connected with motor; When grating is with in the process of main axis, when photoelectricity door senses photic zone, photoelectricity door outputs signal the first predetermined level, and when photoelectricity door senses alternatively non-transparent district, photoelectricity door outputs signal the second predetermined level.
Beneficial effect of the present invention is: after system electrification, controller performs initialization procedure, described initialization procedure mainly carries out judging whether null position detected and whether be positioned at null position, by power-off, regulates position, shaft coupling angle and the step such as to re-power and carry out initialization zeroing process.By above step, whole system can be made to be in original state, i.e. null position.If not to be adjusted to the operation at center, grating photic zone zero point, to mean and do not control null position, make zero point seating position random, easily occurring the fault that zero point is missing, by controlling seating position at zero point, guaranteeing that initial zero position stability is reliable.
Accompanying drawing explanation
Fig. 1 is the theory diagram of the kind of drive one in background technology of the present invention;
Fig. 2 is the curve synoptic diagram of position, benchmark angle at zero point fixed amount shift fault pattern in background technology of the present invention;
Fig. 3 is the flow chart of steps of the zero point adjusting method for adjustable filter transmission and control system of the specific embodiment of the invention;
Fig. 4 is controller display interface one schematic diagram of the specific embodiment of the invention;
Fig. 5 is controller display interface two schematic diagram of the specific embodiment of the invention;
Fig. 6 is the concrete steps process flow diagram of the Zero-point Positioning for adjustable filter transmission and control system of the specific embodiment of the invention;
Fig. 7 is the structural representation for adjustable filter transmission and control system of the specific embodiment of the invention;
Fig. 8 is the photic zone of grating in the specific embodiment of the invention is fan-shaped schematic diagram;
Fig. 9 is the photic zone of grating in the specific embodiment of the invention is rectangle schematic diagram.
Embodiment
By describing technology contents of the present invention in detail, realized object and effect, accompanying drawing is coordinated to be explained below in conjunction with embodiment.
The design of most critical of the present invention is: after system electrification, controller performs initialization procedure, described initialization procedure mainly carries out judging whether null position detected and whether be positioned at null position, by power-off, regulates position, shaft coupling angle and the step such as to re-power and carry out initialization zeroing process.
Please refer to Fig. 3, is the flow chart of steps of the zero point adjusting method for adjustable filter transmission and control system of the specific embodiment of the invention, specific as follows:
For a zero point adjusting method for adjustable filter transmission and control system, comprising:
S100, system electrification, controller performs initialization procedure, and described initialization procedure for detecting null position, and is positioned at null position;
Whether the initialization procedure of S200, determining step S100 detects null position, if not, then enters step S300; If so, then step S400 is entered;
S300, system cut-off, regulate position, shaft coupling angle, return step S100;
Whether the initialization procedure of S400, determining step S100 is positioned at null position, if not, then enters step S500; If so, then step S600 is entered;
S500, system cut-off, regulate position, shaft coupling angle according to controller instruction, return step S100;
S600, controller initialization have been located.
From foregoing description, beneficial effect of the present invention is: after system electrification, controller performs initialization procedure, described initialization procedure mainly carries out judging whether null position detected and whether be positioned at null position, by power-off, regulates position, shaft coupling angle and the step such as to re-power and carry out initialization zeroing process.By above step, whole system can be made to be in original state, i.e. null position.If not to be adjusted to the operation at center, grating photic zone zero point, to mean and do not control null position, make zero point seating position random, easily occurring the fault that zero point is missing, by controlling seating position at zero point, guaranteeing that initial zero position stability is reliable.
Further, described in judge whether to detect that null position is expressed as the photic zone judging whether to enter grating, arrange and enter the photic zone of grating, photoelectricity door exports high level signal, then can judge whether according to photoelectricity door output signal the photic zone entering grating; The middle position that null position is grating photic zone is set, described in judge whether that being positioned at null position is expressed as the middle position judging whether to be positioned at grating photic zone.
Further, described step S400 is specially: if the distance value at primary importance and the first edge is A, and the distance value on primary importance and Second Edge edge is B, when the absolute value that A and B carries out subtracting each other is less than pre-set threshold value, then enters step S600; Described primary importance is current location, and described first edge and Second Edge are along the edge line being grating photic zone and alternatively non-transparent district.
Seen from the above description, according to said method, current location can be adjusted to position relatively placed in the middle, photic zone, be determined by pre-set threshold value with the error range of middle position, by change pre-set threshold value, accurate location can be realized.
Further, also comprise after controller initialization located, locate null position process during system electrification, concrete steps are as follows:
On S700, controller, electric drive motor rotates;
S800, according to photoelectricity door output signal, judge whether to enter grating photic zone, if not, then enter step S700; If so, then step S900 is entered;
S900, when entering grating photic zone, judge photoelectric encoder output signal whether be 0000, if not, then return step S700; If so, then step S1000 is entered;
S1000, stopping drive motor rotating, and record current location is main shaft benchmark null position, completes location null position.
Seen from the above description, during by judging whether enter grating photic zone and enter grating photic zone, judge whether photoelectric encoder output signal is 0000, determine main shaft benchmark null position, when stopping drive motor rotating, record current location is main shaft benchmark null position, and stops on null position.
Further, described photoelectric encoder output signal is that 4 figure places are relevant with the resolution of this photoelectric encoder, and the resolution of the photoelectric encoder that the embodiment of the present invention adopts is 2048, so output signal is 4 figure places, according to the resolution of photoelectric encoder be 512, then output signal is 3 figure places.
Further, also step is comprised
S1100, judge whether to receive frequency instruction, if so, then enter step 1200; If not, then motor does not rotate;
S1200, described controller draw the angular coding value that this frequency is corresponding, the target location corresponding according to described angular coding value according to described instruction, and drive motor rotates, if arrival target location, then stop Driving Stepping Motor rotating, if do not arrive target location, then continue drive motor and rotate.
Seen from the above description, when receiving frequency instruction, the calculating of position, angle can be carried out according to photoelectric encoder, and drive motor rotates, and realizes the location of pinpoint accuracy.
Embodiment one
System initialization regulates concrete steps as follows zero point:
1, system electrification start is to after zero point (or by resetting again to zero point), observe distance edge 1 encoded radio (coding difference at zero point and edge 1) and distance edge 2 encoded radio (coding difference at zero point and edge 2) of the prompting of controller display screen, (distance edge 1 and distance edge 2 encoded radio are close to consistent, see Fig. 4, mean null position more close to grating gap center), the adjustment direction according to status bar prompting regulates.
If 2 cannot find zero point, motor can rotate always cannot stop, then power-off, first unscrew the screw near motor on shaft coupling, then any direction (visual angle during adjustment shaft coupling is all from scrambler toward filter direction) rotates shaft coupling, then tightening screw, re-power start to zero point, until can zero point be found, then adjust the position of shaft coupling by step 3 ~ 4, make null position be in grating gap immediate vicinity.(because scrambler is linked by shaft coupling and motor 1:1, so by unscrewing shaft coupling and motor gib screw, then rotate shaft coupling, the relative angle of scrambler and motor can be changed, finally realizing regulating zero point)
If 3 status bar promptings are adjusted left or adjust to the right, see Fig. 5, first power-off, then the screw that unscrew shaft coupling the same as step 2, then (adjust left) counterclockwise or (adjust to the right) clockwise and rotate shaft coupling by a small margin, (to the right) is worth larger partially left, and the angle rotating shaft coupling is larger.
4, the screw of shaft coupling is again screwed, power on start, observe display screen status bar information, if status bar prompting is (about spacing edge 1 is less than in 100 with distance edge 2 absolute difference and represents placed in the middle at present) between two parties, see Fig. 4, illustrate that adjustment is complete, otherwise need the operation re-starting step 2 or step 3.
Referring to Fig. 6, is the concrete steps process flow diagram of the Zero-point Positioning for adjustable filter transmission and control system of the specific embodiment of the invention, specific as follows:
1, system electrification start, Driving Stepping Motor rotates continuously along a direction;
2, according to photoelectricity door output signal, judge whether to enter grating transmission region (arranging photic zone photoelectricity door output signal is high level, such as 1, photoelectricity door output signal in alternatively non-transparent district is low level, such as 0);
3, when entering grating photic zone, judge whether photoelectric encoder output signal is 0000;
4, when photoelectric encoder output signal is 0000, stop Driving Stepping Motor rotating, recording this position is main shaft benchmark null position, and stops on null position;
5, receive frequency instruction, controller recalls angular coding value (target location) corresponding to this frequency;
6, control step electric machine rotation, and comparison object position and null position, when difference is 0000, represents that main shaft has turned to position corresponding to frequency, stop drive motor.
Referring to Fig. 7, is the structural representation for adjustable filter transmission and control system of the specific embodiment of the invention, specific as follows:
A kind of for adjustable filter transmission and control system, comprise scrambler, shaft coupling, motor, speed reduction unit and controller; Described scrambler is connected with motor by shaft coupling, described motor is connected with speed reduction unit, be provided with a main shaft, one end of described main shaft is connected with speed reduction unit, and the other end of described main shaft is connected with wave filter, and described main shaft is provided with grating, described grating is coaxial with main shaft, described grating comprises photic zone and alternatively non-transparent district, is provided with a photoelectricity door, and described photoelectricity door and grating have fixing relative position; Described scrambler and photoelectricity door are electrically connected with controller, and described controller is electrically connected with motor; When grating is with in the process of main axis, when photoelectricity door senses photic zone, photoelectricity door outputs signal the first predetermined level, and when photoelectricity door senses alternatively non-transparent district, photoelectricity door outputs signal the second predetermined level.
From foregoing description, beneficial effect of the present invention is: after system electrification, controller performs initialization procedure, described initialization procedure mainly carries out judging whether null position detected and whether be positioned at null position, by power-off, regulates position, shaft coupling angle and the step such as to re-power and carry out initialization zeroing process.By above step, whole system can be made to be in original state, i.e. null position.If not to be adjusted to the operation at center, grating photic zone zero point, to mean and do not control null position, make zero point seating position random, easily occurring the fault that zero point is missing, by controlling seating position at zero point, guaranteeing that initial zero position stability is reliable.
Further, as shown in Figure 8, described grating is circular, and the photic zone of described grating is fan-shaped circular, and the center of circle angle of described photic zone is less than the first angle, and described first angle is the quotient of 360 ° of ratios of the harmonic reduction divided by described speed reduction unit.
Seen from the above description, motor is in grating photic zone, rotate the number of turns and should be less than 1, because scrambler and motor 1:1 link, so there is No. 1 scrambler zero-bit at most in scrambler in grating photic zone, if grating photic zone adopts rectangle region (see Fig. 9), No. 2 scrambler zero-bits may appear in scrambler in grating photic zone, namely position, main shaft benchmark angle at zero point has two, causes frequency fixed angular offset phenomenon.Specific embodiment of the invention grating opening shape adopts fan-shaped, can avoid position, angle at zero point shift phenomenon completely.
Further, described controller comprises CPU and driving circuit; Described CPU, for storing the angular coding value corresponding with frequency; Described driving circuit, rotates for drive motor.
Further, described CPU, carries out judgement null position for the output signal according to photoelectricity door and scrambler.
Further, described first predetermined level is high level, and described second predetermined level is low level.
The determination methods of described null position is: null position is arranged on the photic zone of grating, therefore entering grating photic zone to judging whether during null position, deterministic process is according to arranging the photic zone of grating and alternatively non-transparent district is varying level, then judges whether to enter photic zone according to the level conditions detected.Arranging described first predetermined level is high level, and described second predetermined level is low level, is to enter grating photic zone to judge whether.
In sum, one provided by the invention is used for adjustable filter transmission and control system and zero point adjusting method thereof, after system electrification, controller performs initialization procedure, described initialization procedure mainly carries out judging whether null position detected and whether be positioned at null position, by power-off, regulates position, shaft coupling angle and the step such as to re-power and carry out initialization zeroing process.By above step, whole system can be made to be in original state, i.e. null position.If not to be adjusted to the operation at center, grating photic zone zero point, to mean and do not control null position, make zero point seating position random, easily occurring the fault that zero point is missing, by controlling seating position at zero point, guaranteeing that initial zero position stability is reliable.During by judging whether enter grating photic zone and enter grating photic zone, judge whether photoelectric encoder output signal is 0000, determines main shaft benchmark null position, when stopping drive motor rotating, record current location is main shaft benchmark null position, and stops on null position.When receiving frequency instruction, the calculating of position, angle can be carried out according to photoelectric encoder, and drive motor rotates, and realizes the location of pinpoint accuracy.Grating opening shape adopts fan-shaped, can avoid position, angle at zero point shift phenomenon completely.
The foregoing is only embodiments of the invention; not thereby the scope of the claims of the present invention is limited; every equivalents utilizing instructions of the present invention and accompanying drawing content to do, or be directly or indirectly used in relevant technical field, be all in like manner included in scope of patent protection of the present invention.
Claims (9)
1., for a zero point adjusting method for adjustable filter transmission and control system, it is characterized in that, comprising:
S100, system electrification, controller performs initialization procedure, and described initialization procedure for detecting null position, and is positioned at null position; Described null position is middle position, grating photic zone;
Whether the initialization procedure of S200, determining step S100 detects null position, if not, then enters step S300; If so, then step S400 is entered;
S300, system cut-off, regulate position, shaft coupling angle, return step S100;
Whether the initialization procedure of S400, determining step S100 is positioned at null position, if not, then enters step S500; If so, then step S600 is entered;
S500, system cut-off, regulate position, shaft coupling angle according to controller instruction, return step S100;
S600, controller initialization have been located.
2. the zero point adjusting method for adjustable filter transmission and control system according to claim 1, it is characterized in that, described step S400 is specially: if the distance value at primary importance and the first edge is A, the distance value on primary importance and Second Edge edge is B, when the absolute value that A and B carries out subtracting each other is less than pre-set threshold value, then enter step S600; Described primary importance is current location, and described first edge and Second Edge are along the edge line being grating photic zone and alternatively non-transparent district.
3. the zero point adjusting method for adjustable filter transmission and control system according to claim 1, is characterized in that, also comprise after controller initialization located, locate null position process during system electrification, concrete steps are as follows:
On S700, controller, electric drive motor rotates;
S800, according to photoelectricity door output signal, judge whether to enter grating photic zone, if not, then enter step S700; If so, then step S900 is entered;
S900, when entering grating photic zone, judge photoelectric encoder output signal whether be 0000, if not, then return step S700; If so, then step S1000 is entered;
S1000, stopping drive motor rotating, and record current location is main shaft benchmark null position, completes location null position.
4. the zero point adjusting method for adjustable filter transmission and control system according to claim 3, is characterized in that, also comprise step:
S1100, judge whether to receive frequency instruction, if so, then enter step 1200; If not, then motor does not rotate;
S1200, described controller draw the angular coding value that this frequency is corresponding, the target location corresponding according to described angular coding value according to described instruction, and drive motor rotates, if arrival target location, then stop Driving Stepping Motor rotating, if do not arrive target location, then continue drive motor and rotate.
5. for adjustable filter transmission and a control system, it is characterized in that, comprise scrambler, shaft coupling, motor, speed reduction unit and controller; Described scrambler is connected with motor by shaft coupling, described motor is connected with speed reduction unit, be provided with a main shaft, one end of described main shaft is connected with speed reduction unit, and the other end of described main shaft is connected with wave filter, and described main shaft is provided with grating, described grating is coaxial with main shaft, described grating comprises photic zone and alternatively non-transparent district, is provided with a photoelectricity door, and described photoelectricity door and grating have fixing relative position; Described scrambler and photoelectricity door are electrically connected with controller, and described controller is electrically connected with motor; When grating is with in the process of main axis, when photoelectricity door senses photic zone, photoelectricity door outputs signal the first predetermined level, and when photoelectricity door senses alternatively non-transparent district, photoelectricity door outputs signal the second predetermined level.
6. according to claim 5 for adjustable filter transmission and control system, it is characterized in that, described grating is circular, the photic zone of described grating is fan-shaped circular, the center of circle angle of described photic zone is less than the first angle, and described first angle is the quotient of 360 ° of ratios of the harmonic reduction divided by described speed reduction unit.
7. according to claim 5ly it is characterized in that for adjustable filter transmission and control system, described controller comprises CPU and driving circuit; Described CPU, for storing the angular coding value corresponding with frequency; Described driving circuit, rotates for drive motor.
8. according to claim 7ly it is characterized in that for adjustable filter transmission and control system described CPU carries out judgement null position for the output signal according to photoelectricity door and scrambler.
9. according to claim 5ly it is characterized in that for adjustable filter transmission and control system, described first predetermined level is high level, and described second predetermined level is low level.
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| CN201410802100.6A CN104536359B (en) | 2014-12-22 | 2014-12-22 | It is a kind of to be driven for tunable filter and control system and its zero point adjusting method |
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| CN201410802100.6A CN104536359B (en) | 2014-12-22 | 2014-12-22 | It is a kind of to be driven for tunable filter and control system and its zero point adjusting method |
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| CN106017534A (en) * | 2016-07-05 | 2016-10-12 | 北京首钢自动化信息技术有限公司 | Code disc calibration method |
| CN106250119A (en) * | 2016-07-21 | 2016-12-21 | 成都福誉科技有限公司 | A kind of cutter sweep motion initial method and system |
| CN108983090A (en) * | 2017-06-02 | 2018-12-11 | 天津市松正电动汽车技术股份有限公司 | A kind of motor Hall zero point regulating device and its adjusting method |
| CN111956425A (en) * | 2020-08-24 | 2020-11-20 | 江苏博志健康科技有限公司 | Automatic overturning control device and control method for nursing bed |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111956425A (en) * | 2020-08-24 | 2020-11-20 | 江苏博志健康科技有限公司 | Automatic overturning control device and control method for nursing bed |
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