CN104852743B - Absolute value encoder signal processing apparatus and method - Google Patents
Absolute value encoder signal processing apparatus and method Download PDFInfo
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- CN104852743B CN104852743B CN201510180893.7A CN201510180893A CN104852743B CN 104852743 B CN104852743 B CN 104852743B CN 201510180893 A CN201510180893 A CN 201510180893A CN 104852743 B CN104852743 B CN 104852743B
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Abstract
The present invention relates to a kind of absolute value encoder signal processing apparatus, including：Reading circuit, position signal and check information for obtaining absolute value encoder output；Pulse-scaling circuit, the waveform signal for being exported according to absolute value encoder carry out step-by-step counting；And position processing circuit, for judging whether position signal is correct according to check information；Position processing circuit is additionally operable to when position signal is correct more new location information and resets the count value of pulse-scaling circuit, and calculates more new location information after correct position signal according to current location information and count value in position signal mistake and reset count value.Above-mentioned absolute value encoder signal processing apparatus realizes the processing of the position signal exported to absolute value encoder by reading circuit, pulse-scaling circuit and position processing circuit, and for processing procedure without using special fpga chip, production cost is relatively low.The invention further relates to a kind of absolute value encoder signal processing methods.
Description
Technical field
The present invention relates to technical field of electronic communication, more particularly to a kind of absolute value encoder signal processing apparatus and side
Method.
Background technology
Absolute value encoder have each position it is absolutely unique, it is anti-interference, without power-failure memory, without looking for reference point and
And without count always the advantages of, more and more widely be applied to various industrial systems in angle, linear measure longimetry and
In location control.The reading and data processing of traditional absolute value encoder position are to utilize FPGA (Field-
Programmable Gate Array, field programmable gate array) chip come according to the agreement between absolute value encoder it is real
Existing, and need that related data is supplied to subsequent processing device using specialized bus.Using this scheme generally by FPGA cores
The influences such as piece price, system cost are higher.
Invention content
Based on this, it is necessary in view of the above-mentioned problems, providing a kind of lower-cost absolute value encoder signal processing apparatus.
A kind of absolute value encoder signal processing method is also provided.
A kind of absolute value encoder signal processing apparatus, at the position signal for being exported to absolute value encoder
Reason, including：Reading circuit, the position letter for the absolute value encoder output to be connect and obtained with the absolute value encoder
Number and check information；Pulse-scaling circuit, for being connect with the absolute value encoder and according to the absolute value encoder
The waveform signal of output carries out step-by-step counting；And position processing circuit, connect with the reading circuit, the pulse-scaling circuit
It connects, for judging whether the position signal is correct according to the check information；The position processing circuit is additionally operable to described
When position signal is correct more new location information and by the count value of the pulse-scaling circuit reset；The position processing circuit is also
For being calculated according to the count value of current location information and the pulse-scaling circuit in the position signal mistake
The location information is updated after correct position signal and resets the count value of the pulse-scaling circuit.
The position processing circuit is according to current location information and the step-by-step counting in one of the embodiments,
The formula that the count value of circuit calculates correct position signal is：Wherein, PnowIt is correct
Position signal, PoldFor current position signal, K is count value, PAThe change of position signal after rotating a circle for absolute value encoder
Change amount, KAThe variable quantity of the count value of the pulse-scaling circuit after rotating a circle for the absolute value encoder.
The signal processing circuit is additionally operable to correct position signal being converted to angle letter in one of the embodiments,
The orthogonal sinusoidal signal instantaneous value of two-way is generated according to the angle signal after number；Correct position signal is converted into angle letter
Number formula beThe calculating that the orthogonal sinusoidal signal instantaneous value of two-way is generated according to the angle signal is public
Formula is C=sinT, D=cosT；Wherein, C is the first sinusoidal signal instantaneous value, and D is the second sinusoidal signal instantaneous value；T is angle
Signal.
Further include in one of the embodiments,：Conversion control circuit is connect with the position processing circuit, is used for root
Analog control signal is generated according to correct position signal；Analog quantity generative circuit connect with the conversion control circuit, is used for
It is exported after the correct position signal is converted to analog signals according to the Analog control signal.
The analog quantity generative circuit is pulse width modulation circuit in one of the embodiments,；The analog quantity control
Signal processed is used to adjust the duty ratio of the pulse signal of the pulse width modulation circuit output.
Further include in one of the embodiments,：Output circuit is connect with the analog quantity generative circuit, is used for institute
Analog signals are stated to export to subsequent processing device；Checking circuit is sampled, with the output end of the analog quantity generative circuit, described
The output end of output circuit connects, and is used for the signal of the output circuit output end and the analog quantity generative circuit output end
Signal be compared after both judge it is whether identical and error information is exported when the two differs.
Further include communicating circuit in one of the embodiments, connect with the sampling checking circuit, is used for the report
Wrong information is exported to subsequent processing device.
The reading circuit, the pulse-scaling circuit and the position processing circuit in one of the embodiments,
It is integrated in a digital processing chip.
A kind of absolute value encoder signal processing method, at the position signal for being exported to absolute value encoder
Reason, includes the following steps：Read the position signal and check information of the absolute value encoder output；Believed according to the verification
Breath judges whether the position signal is correct；If so, the more new location information and count value of the pulse-scaling circuit is clear
Zero；If it is not, then calculating correct position signal according to the count value of current location information and the pulse-scaling circuit
The location information is updated afterwards and resets the count value of the pulse-scaling circuit.
It updates the location information in one of the embodiments, and resets the count value of the pulse-scaling circuit
Further include step after step：Analog control signal is generated according to correct position signal；Believed according to the Analog control
Number generate analog signals after exported to subsequent processing device by output circuit；Detect the signal of the output circuit output end
And judge the output circuit output end signal and generation analog signals it is whether identical；If otherwise exporting error information.
Above-mentioned absolute value encoder signal processing apparatus and method, pass through reading circuit, pulse-scaling circuit and position
The processing that the position signal exported to absolute value encoder can be realized in processing circuit is set, processing procedure is without using special
Fpga chip, production cost are relatively low.
Description of the drawings
Fig. 1 is the structure diagram of the absolute value encoder signal processing apparatus in an embodiment；
Fig. 2 is the structure diagram of the absolute value encoder signal processing apparatus in another embodiment；
Fig. 3 is the flow chart of the absolute value encoder signal processing method in an embodiment；
Fig. 4 is the flow chart of the absolute value encoder signal processing method in another embodiment.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
A kind of absolute value encoder signal processing apparatus, for handling the position signal that absolute value encoder exports
In order to provide to aftertreatment systems.Fig. 1 is the structural schematic diagram of the absolute value encoder signal processing apparatus in an embodiment,
Including reading circuit 110, pulse-scaling circuit 120 and position processing circuit 130.Wherein, reading circuit 110, step-by-step counting
Circuit 120 is connect with position processing circuit 130 respectively.
Reading circuit 110 is used to connect with absolute value encoder to receive the position signal and check information of its output.
The check information of absolute value encoder output refers to the school that its built-in check circuit carries out the position signal of output verification acquisition
Test code.Specifically, reading circuit 110 includes reading interface 112 and interface driving circuit 114.Wherein, read interface 112 with
Interface driving circuit 114 connects, and is compiled by the end DATA+, DATA-, CLK+ and CLK- of absolute value encoder and absolute value
Code device connection.In the present embodiment, interface 112 is read using Serial Peripheral Interface (SPI) (Serial Peripheral
Interface, SPI), absolute value encoder is EnDat absolute value encoders.Therefore, interface 112 is read according to itself and EnDat
Agreement (i.e. EnDat agreements) between absolute value encoder carries out the reading of absolute value encoder position signal and check information
It takes, to obtain position signal and check information.
The waveform signal that pulse-scaling circuit 120 is used to connect with absolute value encoder and be exported according to absolute value encoder
Carry out step-by-step counting.In the present embodiment, absolute value encoder signal processing apparatus further includes analog quantity processing circuit 140.Mould
Analog quantity processing circuit 140 by with the analog quantity sinusoidal signal output terminals A of absolute value encoder+, A-, B+ and B- connect, from
And receive the analog quantity sinusoidal signal that absolute value encoder itself carries.The analog quantity that analog quantity processing circuit 140 will receive
Sinusoidal signal processing gives pulse-scaling circuit 120 to carry out step-by-step counting for output after square-wave signal.In the present embodiment, pulsimeter
Number circuit 120 is quadrature coding pulse counting circuit (Quadrature Encoder Pulse, QEP).
Position processing circuit 130 for receiving the position signal and check information that reading circuit 110 is read, and according to
The check information of reception judges whether the position signal read is correct.Specifically, the meeting of position processing circuit 130 basis receives
Position signal a check value is calculated, so that the check value be compared with the check value got in check information
Compared with.If the two unanimously if indicate that verification is correct, to judge the position signal for correct position signal, on the contrary then position letter
It is number incorrect.Position processing circuit 130 is additionally operable to the more new location information when position signal is correct, i.e., will current correct position
Signal replaces the position signal in original location information.Meanwhile position processing circuit 130 can also be by pulse-scaling circuit
120 count value is reset, to carry out position signal reading next time.In one embodiment, at absolute value encoder signal
It further includes storage circuit to manage device, is used for store-updated location information, i.e., before not updating, the position in storage unit
Information is the location information (initial position of absolute value encoder) when pulse count unit 120 counts beginning.
Position processing circuit 130 is additionally operable to when judging that position signal is incorrect, according to current location information and
Correct position signal is calculated in the count value of pulse-scaling circuit 120, to be updated after obtaining correct position signal
The counting of location information and pulse count circuit 120 is reset.Position processing circuit 130 can be interfered in circuit leads to position
Position signal is handled when signal error, to avoid the position signal of mistake from generating larger shadow to subsequent processing device
It rings, improves the anti-interference ability of system.Specifically, position processing circuit 130 calculate correct position signal formula it is as follows：
Wherein, PnowIndicate correct position signal, PoldFor current position signal, can directly be read from location information
It is count value, P to take acquisition, KAThe variable quantity of position signal, K after rotating a circle for absolute value encoderAFor the absolute encoder
The variable quantity of device count value of the pulse-scaling circuit after rotating a circle.In one embodiment, it can also first judge pulsimeter
Whether the count value K of number circuit 120 is zero, if zero, then it represents that the position of absolute value encoder does not change, will not align
Confidence breath is updated.It just carries out that correct position signal is calculated by above-mentioned formula when count value K is more than zero.At this
In embodiment, absolute value encoder rotates a circle the variable quantity P of its position signalAIt is 65536, the afterpulse that rotates a circle counts
The variable quantity K of the count value of circuit 120AIt is 8192.Therefore, formula (1) is：
, can be to avoid because of the case where position signal be mutated when check information mistake after above-mentioned processing, raising
The reliability of system.
Above-mentioned absolute value encoder signal processing apparatus passes through reading circuit 110, pulse-scaling circuit 120 and position
The processing of the position signal exported to absolute value encoder can be realized in processing circuit 130, and processing procedure is without using special
Fpga chip, production cost are relatively low.Also, above-mentioned apparatus can fail in data check (i.e. check information mistake) when according to pulse
Correct position signal is calculated in the count value and current location information of counting circuit 120, when to avoid verification failure
The case where position signal is mutated improves the reliability of system.
Fig. 2 is the structure diagram of the absolute value encoder signal processing apparatus in another embodiment comprising interface circuit
212, interface driving circuit 214, pulse-scaling circuit 220, position processing circuit 230 and analog quantity processing circuit 240, are also wrapped
Include conversion control circuit 255, analog quantity generative circuit 260, output circuit 265, sampling checking circuit 270 and communicating circuit
275.Wherein, interface circuit 212, interface driving circuit 214, pulse-scaling circuit 220, position processing circuit 230 and simulation
The part that amount processing circuit 240 has been discussed in detail in the aforementioned embodiment, does not repeat herein.
In the present embodiment, the position signal that position processing circuit 230 is additionally operable to be calculated is converted to angle signal,
Its conversion formula is：T is transformed angle signal.Position processing circuit 230 is additionally operable to basis should
Angle signal T generates the orthogonal sinusoidal signal instantaneous value (being all the way C phases, be all the way D phases) of two-way, and calculation formula is as follows：
C=sinT, D=cosT
Wherein, C is the first sinusoidal signal instantaneous value, and D is the second sinusoidal signal instantaneous value.
The period for the orthogonal sinusoidal signal variation one week of two-way that position processing circuit 230 generates turns with absolute value encoder
The cycle match of one circle.Since the sinusoidal signal instantaneous value that position processing circuit 230 generates is digital quantity signal, need to be converted to
It is exported after analog quantity.
Conversion control circuit 255 is connect with position processing circuit 230, for according to the orthogonal sinusoidal signal instantaneous value of two-way
Generate Analog control signal.Analog quantity generative circuit 260 is connect with conversion control circuit 255, for according to conversion and control electricity
The Analog control signal that road 255 exports exports after position signal is converted to analog signals.In the present embodiment, analog quantity
Generative circuit 260 is pwm pulse width modulation circuit.Therefore, Analog control signal be used for the duty ratio of pulse signal into
Row adjustment, to control the analog signals of output.Specifically, Analog control signal can be according to following formula meter
It calculates and obtains：
Wherein, it is maximum negative value that C, D phase are corresponded to when duty ratio is 0；It is zero that C, D phase are corresponded to when duty ratio is 50%；
It is positive maximum value that C, D phase are corresponded to when duty ratio is 100%.
After the two-way analog signals that absolute position signal can be converted to reaction physical location by foregoing circuit
It can be directly output to subsequent processing device by output circuit 265 and carry out further signal processing, it is special without using
Bus realizes the transmission of data, reduces requirement to subsequent processing device, compatibility is preferably.In one embodiment, it exports
Circuit 265 is DA interfaces.
In the present embodiment, absolute value encoder signal processing apparatus can also carry out sampling school to the analog signals of output
It tests, so that it is guaranteed that the accuracy of output.Sample the output end and output electricity of checking circuit 270 and analog quantity generative circuit 260
The output end on road 265 connects.Sampling checking circuit 270 will be adopted for being sampled to the signal of 265 output end of output circuit
Sample value is compared with the analog signals that analog quantity generative circuit 260 generates, and judges whether the two is identical.It is appreciated that working as
When the deviation of the two is in allowable range of error, it is believed that the two is identical.Sampling checking circuit 270 is judging sampled value
When the analog signals generated with analog quantity generative circuit 260 differ, error information is exported, prompts analog quantity generative circuit
Circuit after 260 is likely to occur problem, and preserves the error information.Communicating circuit 275 is connect with sampling checking circuit 270, is used
It is exported to subsequent processing device in by error information.Output can be improved by carrying out sampling verification by the analog signals to output
Accuracy, further increase the reliability of system.In one embodiment, communicating circuit 275 also connects with position processing circuit 230
It connects, for the case where check information to be sent to subsequent processing device, so that subsequent processing device knows absolute value encoder
Working condition.
In one embodiment, interface driving circuit 214, pulse-scaling circuit 220, position processing circuit 230, conversion and control
Circuit 255, analog quantity generative circuit 260, sampling checking circuit 270 and communicating circuit 275 are integrated at a digital signal
It manages in (Digital Signal Processing, DSP) chip, is realized to absolute value encoder to substitute fpga chip
The processing of the position signal of output reduces production cost while improving the integrated level of device.
Fig. 3 is the flow chart of the absolute value encoder signal processing method in an embodiment, is included the following steps：
S310 reads the position signal and check information of absolute value encoder output.
Its position signal and check information are read from the end DATA+, DATA-, CLK+ and CLK- of absolute value encoder.
S320 judges whether position signal is correct according to check information.
Check code is calculated according to the position signal read, and judges the school in the check code and check information that are calculated
It whether consistent tests code, indicates that position signal is correct if consistent., whereas if check code is inconsistent, verification failure, position are indicated
Signal error.If position signal correctly if directly execute step S340, otherwise then follow the steps S330 and its subsequent step.
S330 calculates correct position signal according to the count value of current location information and pulse-scaling circuit.
The formula for calculating correct position signal is as follows：
Wherein, PnowIndicate correct position signal, PoldFor current position signal, the position from the processing circuit of position
Acquisition can be directly read in information, K is count value, PAThe variable quantity of position signal, K after rotating a circle for absolute value encoderA
The variable quantity of the count value of the pulse-scaling circuit after rotating a circle for the absolute value encoder.In the present embodiment, absolutely
Rotate a circle to value encoder the variable quantity P of its position signalAIt is 65536, the meter for the afterpulse counting circuit 120 that rotates a circle
The variable quantity K of numerical valueAIt is 8192.Therefore, above-mentioned formula is converted into：
, can be to avoid because of the case where position signal be mutated when check information mistake after above-mentioned processing, raising
The reliability of system.
S340, more new location information simultaneously reset the count value of pulse-scaling circuit.
Location information is updated after judging that position signal is correct or calculating correct position signal, i.e., will
Correct position signal replaces original position signal in location information, while the count value of pulse-scaling circuit being carried out clearly
Zero, convenient for the processing of position signal next time.In the present embodiment, updated position can also be believed after more new location information
Breath is stored.
Above-mentioned absolute value encoder signal processing method, processing procedure is without using special fpga chip, production cost
It is relatively low.Also, when data check fails (i.e. check information mistake) according to the count value and present bit of pulse-scaling circuit
The case where correct position signal is calculated in confidence breath, and position signal is mutated when failing to avoid verifying, improves
The reliability of system.
In one embodiment, further include step S350~390 in above-mentioned absolute encoder code device signal processing method, such as
Shown in Fig. 4.
S350, by the position signal being calculated be converted to angle signal and according to the angle signal generate two-way it is orthogonal
Sinusoidal signal instantaneous value.
The calculation formula of transfer process is：：T is transformed angle signal；PAFor absolute value
The variable quantity of position signal after encoder rotates a circle.The orthogonal sinusoidal signal instantaneous value of two-way (is all the way C phases, is all the way D
Phase), calculation formula is as follows：C=sinT, D=cosT.Wherein, C is the first sinusoidal signal instantaneous value, and D was the second sinusoidal signal wink
Duration.
S360 generates Analog control signal according to the orthogonal sinusoidal signal instantaneous value of the two-way of generation.
In the present embodiment, it is to realize the sinusoidal signal value of digital quantity to simulation by pwm pulse width modulation circuit
The transformation of signal is measured, therefore Analog control signal is defeated for controlling pwm pulse width modulation circuit (analogue quantity output circuit)
The duty ratio of the pulse signal gone out.Specifically, Analog control signal can be calculated according to following formula and be obtained：
Wherein, it is maximum negative value that C, D phase are corresponded to when duty ratio is 0；It is zero that C, D phase are corresponded to when duty ratio is 50%；
It is positive maximum value that C, D phase are corresponded to when duty ratio is 100%.
It can directly be exported after two-way analog signals by the way that absolute position signal to be converted to reaction physical location
Further signal processing is carried out to subsequent processing device, the transmission of data is realized without using specialized bus, reduces
Requirement to subsequent processing device, the compatibility of device is preferably.
S370 is set according to being exported by output circuit after Analog control signal generation analog signals to subsequent processing
It is standby.
Pwm pulse width modulation circuit is adjusted the duty ratio of output signal under the control of Analog control signal
So that the analog signals of output can reflect the physical location of absolute value encoder.
S380 detects the signal of output circuit output end and judges the signal of output circuit output end and the analog quantity of generation
Whether signal is identical.
By judging that the signal of output circuit output and the analog signals of generation whether identical judge analog signals
Subsequent process circuit such as output circuit etc. whether there is problem, so that it is guaranteed that the accuracy of output signal, that improves system can
By property.If the two is identical, do not have to carry out any operation, end operation；If it is not the same, then indicating that subsequent conditioning circuit may go out
Existing problem, executes step S390.
S390 exports error information.
Error information is exported to subsequent processing device, so that subsequent processing device knows the work feelings of absolute value encoder
Condition.
Each technical characteristic of embodiment described above can be combined arbitrarily, to keep description succinct, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, it is all considered to be the range of this specification record.
Several embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Range.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (8)
1. a kind of absolute value encoder signal processing apparatus, for handling the position signal that absolute value encoder exports,
It is characterised in that it includes：
Reading circuit, for connect and obtain with the absolute value encoder position signal of absolute value encoder output with
And check information；
Pulse-scaling circuit, for connecting with the absolute value encoder and being believed according to the waveform that the absolute value encoder exports
Number carry out step-by-step counting；And
Position processing circuit is connect with the reading circuit, the pulse-scaling circuit, for being judged according to the check information
Whether the position signal is correct；The position processing circuit is additionally operable to when the position signal is correct more new location information simultaneously
The count value of the pulse-scaling circuit is reset；The position processing circuit be additionally operable in the position signal mistake according to
The count value of current location information and the pulse-scaling circuit updates the position after calculating correct position signal
Information simultaneously resets the count value of the pulse-scaling circuit；
Storage circuit is used for store-updated location information；
Conversion control circuit is connect with the position processing circuit, for generating Analog control according to correct position signal
Signal；
Analog quantity generative circuit is connect with the conversion control circuit, for according to the Analog control signal by it is described just
True position signal exports after being converted to analog signals.
2. absolute value encoder signal processing apparatus according to claim 1, which is characterized in that the position processing circuit
The formula that correct position signal is calculated according to the count value of current location information and the pulse-scaling circuit is：
Wherein, PnowFor correct position signal, PoldFor current position signal, K is count value, PAIt is revolved for absolute value encoder
The variable quantity of position signal, K after circlingAThe counting of the pulse-scaling circuit after rotating a circle for the absolute value encoder
The variable quantity of value.
3. absolute value encoder signal processing apparatus according to claim 2, which is characterized in that the signal processing circuit
It is additionally operable to be converted to correct position signal and the orthogonal sinusoidal signal of two-way is generated according to the angle signal after angle signal
Instantaneous value；
The formula that correct position signal is converted to angle signal is
According to the angle signal generate the orthogonal sinusoidal signal instantaneous value of two-way calculation formula be
C=sinT, D=cosT；
Wherein, C is the first sinusoidal signal instantaneous value, and D is the second sinusoidal signal instantaneous value；T is angle signal.
4. absolute value encoder signal processing apparatus according to claim 1, which is characterized in that the analog quantity generates electricity
Road is pulse width modulation circuit；The Analog control signal is used to adjust the pulse of the pulse width modulation circuit output
The duty ratio of signal.
5. absolute value encoder signal processing apparatus according to claim 1, which is characterized in that further include：
Output circuit is connect with the analog quantity generative circuit, for exporting the analog signals to subsequent processing device；
Checking circuit is sampled, is connect with the output end of the output end of the analog quantity generative circuit, the output circuit, being used for will
The signal of the output circuit output end judges that the two is after being compared with the signal of the analog quantity generative circuit output end
It is no identical and error information is exported when the two differs.
6. absolute value encoder signal processing apparatus according to claim 5, which is characterized in that further include communicating circuit,
It is connect with the sampling checking circuit, for exporting the error information to subsequent processing device.
7. absolute value encoder signal processing apparatus according to claim 1, which is characterized in that the reading circuit, institute
It states pulse-scaling circuit and the position processing circuit is integrated in a digital processing chip.
8. a kind of absolute value encoder signal processing method, for handling the position signal that absolute value encoder exports,
And the pulse-scaling circuit that step-by-step counting is carried out according to the waveform signal to absolute value encoder output believes the position
It number is handled, is included the following steps：
Read the position signal and check information of the absolute value encoder output；
Judge whether the position signal is correct according to the check information；
If so, more new location information and by the count value of the pulse-scaling circuit reset；
If it is not, then calculating correct position signal according to the count value of current location information and the pulse-scaling circuit
The location information is updated afterwards and resets the count value of the pulse-scaling circuit；
Further include step after the step of updating the location information and resetting the count value of the pulse-scaling circuit：
Analog control signal is generated according to correct position signal；
It is exported to subsequent processing device by output circuit according to after Analog control signal generation analog signals；
It detects the signal of the output circuit output end and judges the analog quantity of the signal and generation of the output circuit output end
Whether signal is identical；
If otherwise exporting error information.
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| WO2016165091A1 (en) * | 2015-04-16 | 2016-10-20 | 深圳市海浦蒙特科技有限公司 | Apparatus and method for processing signal of absolute value encoder |
| CN109654988B (en) * | 2018-11-01 | 2021-04-13 | 汉宇集团股份有限公司 | Electric automobile motor position detection and verification method and system and electric automobile |
| CN111857009A (en) * | 2020-07-31 | 2020-10-30 | 西安爱生技术集团公司 | Manual antenna control dish of redundancy with from check-up function |
| CN114659544A (en) * | 2020-12-24 | 2022-06-24 | 沈阳新松机器人自动化股份有限公司 | Absolute position measuring method and device based on incremental encoder |
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| CN204666167U (en) * | 2015-04-16 | 2015-09-23 | 深圳市海浦蒙特科技有限公司 | Absolute value encoder signal processing apparatus |
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