CN105162470A - Encoder signal digital secure transmission device and transmission method thereof - Google Patents
Encoder signal digital secure transmission device and transmission method thereof Download PDFInfo
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Abstract
The invention discloses an encoder signal digital secure transmission device and a transmission method thereof. The transmission device is used to carry out redundancy control over location information and check information of input signals Asin(alpha), Bcos(alpha) and R of the same encoder and generate a digital signal, and the digital signal is transferred to a servo motor driver in the form of message. The transmission device comprises a square-wave signal conversion module, a signal processing module I, a signal processing module II, and an arbitration module. The input signals Asin(alpha), Bcos(alpha) and R are converted into square-wave signals by the square-wave signal conversion module, and then processed into two signals to be transmitted by the two signal processing modules respectively. The two signal processing modules represent two channels. When the two signals to be transmitted are the same, the arbitration module superimposes the location information in the two channels into a standard message field and outputs the location information, and a formed data stream is transferred to the servo motor driver through a field bus or over a real-time Ethernet. The invention further discloses the transmission method of the transmission device.
Description
Technical field
The present invention relates to a kind of transmitting device and transmission method thereof, particularly relate to a kind of code device signal digital safety transmitting device and transmission method thereof.
Background technology
The output signal of servomotor built-in encoder before there is no Digital Transmission, or is analog signals, or TTL square-wave signal.According to the difference of built-in encoder (transducer), the form difference to some extent of output signal:
1, SIN/COS encoder: incremental encoder A/B (1Vpp)+absolute position C/D (1Vpp)+reference point (R);
2, SIN/COS encoder: incremental encoder A/B (1Vpp)+reference point (R);
3, EnDat encoder: the SIN/COS incremental encoder A/B (1Vpp) of Serial output;
4, SIN/COS encoder: incremental encoder A/B (1Vpp)+SSI;
5, absolute value encoder: SSI;
6, resolver: AP+AN; BP+BN;
7, TTL encoder: TTL square wave A/B (TTL)+Z (TTL).
Can the built-in encoder output of servomotor realize Digital Transmission, is to determine that whether a digital control system is the mark of digital ac servo digital control system.Send out and change height [2014] No. 2072 files of altering and specify: the total digitalization realizing AC synchronous sampling internal control and measuring unit, the Digital Control interfacing of employing fieldbus.What the measuring unit said here referred to is exactly servomotor built-in encoder, and it is used to the transducer measuring actual position value and values for actual speed.
Digital ac servo digital control system is realized with coordinating of motor servo driver 11 by the servomotor 12 of built-in encoder, as shown in Figure 1 and Figure 2.Servomotor 12 comprises built-in encoder signal transacting 121, motor coil 14, motor braking 15, motor temperature measurement (KTY) 16.Built-in encoder signal transacting 121 received code device signal, transfers to motor servo driver 11 by interface 13, fieldbus or real-time ethernet after process.Motor coil 14, motor braking 15 are connected to motor servo driver 11 by motor and electrical source of power interface 17.In addition, the control to spindle motor internal temperature sensor can be comprised in built-in encoder signal transacting 121, PTC and KTY16 as shown in Figure 2 and KTY16 as shown in Figure 1.
Summary of the invention
The invention provides a kind of the code device signal digital safety transmitting device and the transmission method thereof that realize the transmission of code device signal digital safety.
Solution of the present invention is: a kind of code device signal digital safety transmitting device, it has carried out positional information for input signal Asin α, the Bcos α to same encoder, R, the Redundant Control of check information also generates digital signal thus, and described digital signal passes to motor servo driver with the form of message by fieldbus or real-time ethernet; Described transmitting device comprises: square-wave signal modular converter, and it for also converting encoder input signal Asin α, Bcos α, R to square-wave signal respectively after differential amplifier, proportional amplifier; Wherein, A, B represent A phase signals, B phase signals in three-phase alternating current respectively, and α represents the electrical angle in the signal period, and R presentation code device often encloses experience absolute position reference point once; Signal processing module one, it characterizes passage one, for by converting encoder input signal Asin α, the Bcos α of square-wave signal to, R is processed into signal one to be transmitted; Signal processing module two, it characterizes passage two, for by converting encoder input signal Asin α, the Bcos α of square-wave signal to, R is processed into signal two to be transmitted; Arbitration modules, whether it is identical for judging two signals to be transmitted, and as identical, export in the standard message field that the positional information in two passages is added to, the data flow of formation passes to motor servo driver by fieldbus.
As the further improvement of such scheme, described signal processing module one comprises: multiplier unit one, and it is for carrying out 4 frequencys multiplication to encoder input signal Asin α, Bcos α; Reference point deposit unit one, it often encloses experience absolute position track one once for recording encoder input signal R and forming encoder; Thick counting unit one, it is for calculating coarse position value one according to encoder input signal Asin α, the Bcos α after absolute position track a pair 4 frequencys multiplication, and deriving velocity amplitude one according to described coarse position value one, described coarse position value one, described velocity amplitude one form code one successively; CRC check unit one, it forms described signal to be transmitted for arranging check code at the lowest order of described code one, and the one-period content of described signal one to be transmitted is: coarse position value one, velocity amplitude one, state value one;
Accordingly, described signal processing module two comprises: multiplier unit two, and it is for carrying out 4 frequencys multiplication to encoder input signal Asin α, Bcos α; Reference point deposit unit two, it often encloses experience absolute position track two once for recording encoder input signal R and forming encoder; Thick counting unit two, it is for calculating coarse position value two according to encoder input signal Asin α, the Bcos α after absolute position track a pair 4 frequencys multiplication, and deriving velocity amplitude two according to described coarse position value two, described coarse position value two, described velocity amplitude two form code two successively; CRC check unit two, it forms described signal to be transmitted two for arranging check code at the lowest order of described code two, and the one-period content of described signal two to be transmitted is: coarse position value two, velocity amplitude two, state value two.
Further, described signal processing module one also comprises meticulous counting unit, and described meticulous counting unit is used for forming fine location value to described coarse position value one interpolation subdividing.
Preferably, described meticulous counting unit is provided with mechanical angle λ
scomputing unit and rotating speed n computing unit; Mechanical angle λ
scomputing unit obtains mechanical angle λ according to formula (1)
s:
formula (1), wherein, N is the resolution of encoder, every rotaring signal periodicity; Z is movable signal period quantity; α is the electrical angle in the signal period,
λ
sit is the mechanical angle in the signal period; Rotating speed n computing unit obtains rotating speed n according to formula (2):
formula (2),
Described meticulous counting unit is according to mechanical angle λ
swith rotating speed n, described fine location value is formed to described coarse position value one interpolation subdividing, make the content alteration in the one-period of described code one become coarse position value one, velocity amplitude one, fine location value, the content alteration in the one-period of corresponding described signal one to be transmitted becomes coarse position value one, velocity amplitude one, fine location value, state value one.
As the further improvement of such scheme, described transmitting device also comprises temperature sensor signal analog-to-digital conversion module, for measuring the temperature of coil of stator of motor, the temperature value obtained is as the constituent of message transmission, and the one-period belonging to data flow transmits information: " signal one to be transmitted, signal to be transmitted two, temperature value ".
The present invention also provides a kind of code device signal digitalized transmission method, and it is for being converted to digital signal by encoder input signal Asin α, Bcos α, R from analog signal; Described digital signal passes to motor servo driver with the form of message by fieldbus; Described code device signal digitalized transmission method comprises the following steps: also convert encoder input signal Asin α, Bcos α, R to square-wave signal respectively; Wherein, A, B represent A phase signals, B phase signals in three-phase alternating current respectively, and α represents the electrical angle in the signal period, and R presentation code device often encloses experience absolute position reference point once; Adopt passage one, encoder input signal Asin α, the Bcos α, the R that convert square-wave signal to are processed into signal one to be transmitted; Adopt passage two, encoder input signal Asin α, the Bcos α, the R that convert square-wave signal to are processed into signal two to be transmitted; Judge that whether two signals to be transmitted are identical, as identical, export in the standard message field that the positional information in two passages is added to, the data flow of formation passes to motor servo driver by fieldbus.
As the further improvement of such scheme, the treatment step of described signal one to be transmitted comprises: carry out 4 frequencys multiplication to encoder input signal Asin α, Bcos α; Record encoder input signal R and form encoder and often enclose experience absolute position track one once; Calculate coarse position value one according to encoder input signal Asin α, Bcos α after absolute position track a pair 4 frequencys multiplication, and derive velocity amplitude one according to described coarse position value one, described coarse position value one, described velocity amplitude one form code one successively; Arrange check code at the lowest order of described code one and form described signal to be transmitted, the one-period content of described signal one to be transmitted is: coarse position value one, velocity amplitude one, state value one;
Accordingly, the treatment step of described signal to be transmitted two comprises: carry out 4 frequencys multiplication to encoder input signal Asin α, Bcos α; Record encoder input signal R and form encoder and often enclose experience absolute position track two once; Calculate coarse position value two according to encoder input signal Asin α, Bcos α after absolute position track a pair 4 frequencys multiplication, and derive velocity amplitude two according to described coarse position value two, described coarse position value two, described velocity amplitude two form code two successively; Arrange check code at the lowest order of described code two and form described signal to be transmitted two, the one-period content of described signal two to be transmitted is: coarse position value two, velocity amplitude two, state value two.
Further, the treatment step of described signal to be transmitted also comprises: form fine location value to described coarse position value one interpolation subdividing.
Preferably, according to mechanical angle λ
swith rotating speed n, described fine location value is formed to described coarse position value one interpolation subdividing, make the content alteration in the one-period of described code one become coarse position value one, velocity amplitude one, fine location value, the content alteration in the one-period of corresponding described signal one to be transmitted becomes coarse position value one, velocity amplitude one, fine location value, state value one;
Wherein, mechanical angle λ is obtained according to formula (1)
s:
formula (1),
Wherein, N is the resolution of encoder, every rotaring signal periodicity; Z is movable signal period quantity; α is the electrical angle in the signal period,
λ
sit is the mechanical angle in the signal period;
Rotating speed n is obtained according to formula (2):
formula (2).
As the further improvement of such scheme, described code device signal digitalized transmission method also comprises: analog-to-digital conversion measures the temperature sensor signal that motor temperature obtains, and the temperature sensor signal after signal one to be transmitted, signal to be transmitted two, analog-to-digital conversion is all one of information of cycle transmission.
A kind of code device signal digital safety transmitting device of the present invention and transmission method thereof, for analyzing, processing the input signal of various encoder, and the input signal of these analog quantity character, be transformed into digital signal, pass to motor servo driver with the form of message by fieldbus, real-time ethernet, these digital signals comprise actual position value and values for actual speed.
Accompanying drawing explanation
Fig. 1 is the structural representation of feed shaft digital ac servo digital control system.
Fig. 2 is the structural representation of main shaft digital ac servo digital control system.
Fig. 3 is the module diagram of the code device signal digital safety transmitting device of present pre-ferred embodiments.
Fig. 4 adopts hard-wired electrical block diagram in Fig. 3.
Fig. 5 is the data flow schematic diagram adopting the 1st kind of data flow that code device signal digital safety transmitting device realizes in similar Fig. 3.
Fig. 6 is the data flow schematic diagram adopting the 2nd kind of data flow that code device signal digital safety transmitting device realizes in similar Fig. 3.
Fig. 7 is the data flow schematic diagram adopting the 3rd kind of data flow that code device signal digital safety transmitting device realizes in similar Fig. 3.
Fig. 8 is the data flow schematic diagram adopting the 4th kind of data flow that code device signal digital safety transmitting device realizes in similar Fig. 3.
Fig. 9 is a kind of hardware circuit schematic diagram realizing complete series code device signal digital safety transmitting device in Fig. 3.
Figure 10 is a kind of hardware circuit schematic diagram realizing A+B+R incremental encoder signal digital safe transmission device in Fig. 3.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that A+B+R incremental encoder signal digital safe transmission device specific embodiment described herein is only in order to explain the present invention, is not intended to limit the present invention.
Code device signal digital safety transmitting device of the present invention and transmission method thereof are used for encoder input signal Asin α, Bcos α, R to be converted to digital signal from analog signal, and described digital signal passes to motor servo driver with the form of message by fieldbus (as PROFINET fieldbus).
Refer to Fig. 3, the code device signal digital safety transmitting device of present pre-ferred embodiments comprises square-wave signal modular converter 31, signal processing module 1, signal processing module 2 33, arbitration modules 34, meticulous counting unit 35.
Square-wave signal modular converter 31 is for also converting encoder input signal Asin α, Bcos α, R to square-wave signal respectively; Wherein, A, B represent A phase signals, B phase signals in three-phase alternating current respectively, and α represents the electrical angle in the signal period, and R presentation code device often encloses experience absolute position reference point once.
As shown in Figure 4, square-wave signal modular converter 31 can adopt differential amplifier, comparison amplifier is transformed into square-wave signal, realizes corresponding function.Particularly, encoder input signal Asin α becomes corresponding square-wave signal through differential amplifier 311, comparison amplifier K_A, and in like manner, encoder input signal Bcos α becomes corresponding square-wave signal through differential amplifier 312, comparison amplifier K_B; Encoder input signal R becomes corresponding square-wave signal through differential amplifier 312, comparison amplifier K_R.
Signal processing module 1 characterizes passage one, for by converting encoder input signal Asin α, the Bcos α of square-wave signal to, R is processed into signal one to be transmitted.Signal processing module 1 comprises multiplier unit one, reference point deposit unit one, thick counting unit one, CRC check unit one.
Multiplier unit one is for carrying out 4 frequencys multiplication to encoder input signal Asin α, Bcos α, and multiplier unit one can adopt 4 frequency multiplier circuits one as shown in Figure 4.
Reference point deposit unit one often encloses experience absolute position track one once for recording encoder input signal R and forming encoder, and reference point deposit unit one can adopt the reference point register 1 shown in Fig. 4.
Thick counting unit one is for calculating coarse position value one according to encoder input signal Asin α, the Bcos α after absolute position track a pair 4 frequencys multiplication, and deriving velocity amplitude one according to described coarse position value one, described coarse position value one, described velocity amplitude one form code one successively.Thick counting unit one can adopt the coarse counter one shown in Fig. 4.
CRC check unit one forms described signal to be transmitted for arranging check code at the lowest order of described code one, and the one-period content of described signal one to be transmitted is: coarse position value one, velocity amplitude one, state value one.CRC check unit one can adopt the CRC circuit one shown in Fig. 4.
Signal processing module 1 can adopt the CPU1 with identical function.In like manner, signal processing module 2 33 can adopt the CPU2 with identical function.Signal processing module 2 33 characterizes passage two, for by converting encoder input signal Asin α, the Bcos α of square-wave signal to, R is processed into signal two to be transmitted.Signal processing module 2 33 comprises multiplier unit two, reference point deposit unit two, thick counting unit two, CRC check unit two.
Multiplier unit two is for carrying out 4 frequencys multiplication to encoder input signal Asin α, Bcos α, and multiplier unit one can adopt 4 frequency multiplier circuits two as shown in Figure 4.
Reference point deposit unit two often encloses experience absolute position track two once for recording encoder input signal R and forming encoder, and reference point deposit unit two can adopt the reference point register two shown in Fig. 4.
Thick counting unit two is for calculating coarse position value two according to absolute position track two to encoder input signal Asin α, the Bcos α after 4 frequencys multiplication, and deriving velocity amplitude two according to described coarse position value two, described coarse position value two, described velocity amplitude two form code two successively.Thick counting unit two can adopt the coarse counter two shown in Fig. 4.
CRC check unit two forms described signal to be transmitted two for arranging check code at the lowest order of described code two, and the one-period content of described signal two to be transmitted is: coarse position value two, velocity amplitude two, state value two.CRC check unit two can adopt the CRC circuit two shown in Fig. 4.
Meticulous counting unit 35 is for forming fine location value to described coarse position value one interpolation subdividing, and meticulous counting unit 35 can be arranged, and also can not arrange.Meticulous counting unit 35 is provided with mechanical angle λ
scomputing unit and rotating speed n computing unit.
Mechanical angle λ
scomputing unit obtains mechanical angle λ according to formula (1)
s:
Wherein, N is the resolution of encoder, every rotaring signal periodicity;
Z is movable signal period quantity;
α is the electrical angle in the signal period,
λ
sit is the mechanical angle in the signal period;
Rotating speed n computing unit obtains rotating speed n according to formula (2):
formula (2),
Meticulous counting unit is according to mechanical angle λ
swith rotating speed n, described fine location value is formed to described coarse position value one interpolation subdividing, make the content alteration in the one-period of described code one become coarse position value one, velocity amplitude one, fine location value, the content alteration in the one-period of corresponding described signal one to be transmitted becomes coarse position value one, velocity amplitude one, fine location value, state value one.
Meticulous counting unit 35 can be integrated in there is signal processing module 1 function CPU1 in, as shown in Figure 4, when not being with safety function, the calculating of angle of rotor of motor λ s and speed n: in CPU1, code device signal Asin α, Bcos α are via multichannel final election device MUXA, MUXB and MUXC, and two sample/hold amplifier S & H, 12 A/D converters, Asin α, Bcos α instantaneous value signal are read.
Formula (1) namely
In CPU1, Asin α, Bcos α, by obtaining coarse position value one after comparator K_A, K_B and coarse counter 1, use meticulous interpolation software algorithm, calculate α angle.Rotor-position (coarse position value one and Fine interpolation α) is transferred to the driver of servomotor by bus.
The computational methods of rotating speed n are as follows:
In CPU1, reference point register 1 provides extra reference marker.When coarse counter 1 count down to reference marker position, CPU1 extracts the information of register, and stores coarse position value one and Fine interpolation α.
Whether arbitration modules 34 is identical for judging two signals to be transmitted, and as identical, export in the standard message field that the positional information in two passages is added to, the data flow of formation passes to motor servo driver by fieldbus.As incorrect, then output alarm information in status word.Arbitration modules 34 exchanges process information by switch, information correct then the positional information in two passages be added to message field in export, positional value 1, positional value 2, state value 1, the state value 2 (correct information is as hereafter introduced) of Here it is correct information; If the result analyzed is information errors, then output error message in state value.Arbitration modules 34 can adopt the moderator with identical function, and moderator accessible site, in CPU, also can select the CPU2 with moderator, as shown in Figure 4.
Have moderator in CPU2, CPU2 is by the arbitral procedure in sheet, and what select to be exported by bus is the positional value that the positional value that calculates of CPU1 or CPU2 calculate.Exported by bus by the signal that moderator is chosen.Reference point register 2 334 in CPU2 provides detect zero point, checks the whether corresponding constant encoder pulse number of signal period number between adjacent two reference points by software in sheet.Enter the square-wave signal interconnection of CPU2, object is in order to detect servomotor reversion.
Code device signal digital safety transmitting device also can be provided with memory modules, internal memory choosing multiple memory.As the internal memory in circuit comprises three kinds, FlashRAM, SRAM and DPRAM.CPU2 and PHY shared drive DPRAM, is controlled the read-write of this internal memory by CPU1, this DPRAM is positioned at CPU2 sheet.
Described transmitting device also can set temperature sensor signal analog-to-digital conversion module, temperature sensor signal in feeding coil of stator of motor inputs to the A/D converter of CPU1, Temperature numerical through calculating loads in the field that specifies enter message, passes to motor driver.KTY, PTC temperature sensor signal in spindle motor stator coil inputs to the A/D converter of CPU1, and the Temperature numerical through calculating loads in the field that specifies enter message, passes to motor driver.Now, " temperature sensor signal after signal one to be transmitted, signal to be transmitted two, analog-to-digital conversion " one-period content that is described data flow.
During band safety function, functional safety code device signal transmission principle: the mechanical angle λ s ' of rotor and the calculating of speed n': in CPU1, code device signal Asin α, Bcos α are via adder, subtracter, 45 ° of transposition, 0.707 times of amplitude modulation, oppositely, generate Asin'(α+45 °) ,-Bcos'(α+45 °), (symbol ', only representing this is safety signal), Asin'(α+45 °) ,-Bcos'(α+45 °) there are 45 ° of phase shifts and oppositely compared with Asin α, Bcos α.Again through multichannel final election device MUXA, MUXB and MUXC, and two sample/hold amplifier S & H, 12 A/D converters, Asin'(α+45 °) ,-Bcos'(α+45 °) instantaneous value signal is read.
Asin'(α+45 °) ,-Bcos'(α+45 °) via CPU2, then send driver to by bus, then send controller main website to by bus.In main website, there is algorithm to utilize these safety signals to calculate the Electron Angular α of safety signal, and be added in coarse position value two.Calculate the mechanical angle λ s ' of safety signal thus.Algorithm contrasts the rotor position λ s ' that controller calculates with the rotor position λ s in driver.Similar, also to contrast n' and n:
It should be noted that: A and B of encoder input signal Asin α, Bcos α only represents A phase signals and B phase signals, the not amplitude of representation signal.
The code device signal digital safety transmitting device of present pre-ferred embodiments is when applying, and its transmission method comprises the following steps.
1, also encoder input signal Asin α, Bcos α, R is converted to square-wave signal respectively; Wherein, A, B represent A phase signals, B phase signals in three-phase alternating current respectively, and α represents the electrical angle in the signal period, and R presentation code device often encloses experience absolute position reference point once.
In CPU1, code device signal Asin α, Bcos α are via multichannel final election device MUXA, MUXB and MUXC, and two sample/hold amplifier S & H, and 12 A/D converters, Asin α, Bcos α instantaneous value signal are read.
2, by converting encoder input signal Asin α, the Bcos α of square-wave signal to, R is processed into signal one to be transmitted.
The treatment step of described signal to be transmitted comprises: carry out 4 frequencys multiplication to encoder input signal Asin α, Bcos α; Record encoder input signal R and form encoder and often enclose experience absolute position track one once; Calculate coarse position value one according to encoder input signal Asin α, Bcos α after absolute position track a pair 4 frequencys multiplication, and derive velocity amplitude one according to described coarse position value one, described coarse position value one, described velocity amplitude one form code one successively; Arrange check code at the lowest order of described code one and form described signal to be transmitted, the one-period content of described signal one to be transmitted is: coarse position value one, velocity amplitude one, state value one.
The treatment step of described signal to be transmitted also can comprise: form fine location value to described coarse position value one interpolation subdividing.
3, by converting encoder input signal Asin α, the Bcos α of square-wave signal to, R is processed into signal two to be transmitted.
The treatment step of described signal to be transmitted two comprises: carry out 4 frequencys multiplication to encoder input signal Asin α, Bcos α; Record encoder input signal R and form encoder and often enclose experience absolute position track two once; Calculate coarse position value two according to encoder input signal Asin α, Bcos α after absolute position track a pair 4 frequencys multiplication, and derive velocity amplitude two according to described coarse position value two, described coarse position value two, described velocity amplitude two form code two successively; Arrange check code at the lowest order of described code two and form described signal to be transmitted two, the one-period content of described signal two to be transmitted is: coarse position value two, velocity amplitude two, state value two.
4, judge that whether two signals to be transmitted are identical, as identical, export in the standard message field that the positional information in two passages is added to, the data flow of formation passes to motor servo driver by fieldbus.
Wherein, described code device signal digitalized transmission method also comprises: analog-to-digital conversion measures the temperature sensor signal that motor temperature obtains, the one-period content that " temperature sensor signal after signal one to be transmitted, signal to be transmitted two, analog-to-digital conversion " is described data flow.
Can be not quite similar to the process of the signal transacting of often kind of encoder.The input signal of the present embodiment circuit is code device signal+temperature sensor signal, and output signal is digitized code device signal+temperature sensor signal.Input signal is analog quantity character, and output signal is digital quantity character.Output signal, by bus or real-time ethernet interface, exports with the mode high speed serialization of message.According to the difference of message format, output signal (i.e. the one-period content of described data flow) can be:
Positional value 1+ state value 1+ positional value 2+ state value 2;
Positional value 1+ fine location value 1+ state value 1+ positional value 2+ state value 2;
Positional value 1+ state value 1+ positional value 2+ state value 2+ safety signal positional value 1;
Positional value 1+ fine location value 1+ state value 1+ positional value 2+ state value 2+ safety signal positional value 1;
Positional value 1+ state value 1+ positional value 2+ state value 2+ temperature;
Positional value 1+ fine location value 1+ state value 1+ positional value 2+ state value 2+ temperature;
Positional value 1+ state value 1+ positional value 2+ state value 2+ safety signal positional value 1+ temperature;
Positional value 1+ fine location value 1+ state value 1+ positional value 2+ state value 2+ safety signal positional value 1+ temperature.
Positional value 1 i.e. coarse position value one above, state value 1 i.e. state value one above, fine location value 1 i.e. fine location value above, positional value 2 i.e. coarse position value two above, state value 2 i.e. state value two above.Safety signal positional value 1, temperature can respectively as additional signals, as the temperature sensor signal after analog-to-digital conversion above.
Wherein, the data flow of " positional value 1+ state value 1+ positional value 2+ state value 2+ temperature ", as shown in Figure 5; " data flow of positional value 1+ fine location value 1+ state value 1+ positional value 2+ state value 2+ temperature, as shown in Figure 6; " positional value 1+ state value 1+ positional value 2+ state value 2+ safety signal positional value 1+ temperature; " data flow, as shown in Figure 7; The data flow of " positional value 1+ fine location value 1+ state value 1+ positional value 2+ state value 2+ safety signal positional value 1+ temperature ", as shown in Figure 8;
Fig. 9 is a kind of hardware circuit schematic diagram of complete series code device signal digital safety transmitting device, can process complete series code device signal for illustration of device and method described in the invention.Dotted line frame 1 inputs for the treatment of signals of rotating transformer; Dotted line frame 2 inputs for the treatment of A+B+R incremental encoder signal; Dotted line frame 3 inputs for the treatment of A+B+C+D+R incremental encoder signal; Dotted line frame 4 inputs for the treatment of temperature sensor signal; Dotted line frame 5 inputs for EnDAT, SSI, TTL code device signal.
Shown in Figure 10, it is a kind of hardware circuit schematic diagram of A+B+R code device signal digital safety transmitting device, it is the code device signal digital safety transmitting device of present pre-ferred embodiments, two CPU can be adopted to realize when specific implementation, particularly, CPU1 can be adopted to be ADSP21990 chip, and CPU2 is fpga chip.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a code device signal digital safety transmitting device, it is characterized in that: it has carried out positional information for input signal Asin α, the Bcos α to same encoder, R, the Redundant Control of check information also generates digital signal thus, and described digital signal passes to motor servo driver with the form of message by fieldbus or real-time ethernet; Described transmitting device comprises:
Square-wave signal modular converter, it is for by encoder input signal Asin α, Bcos α, R convert square-wave signal to respectively through differential amplifier, proportional amplifier; Wherein, A, B represent A phase signals, B phase signals in three-phase alternating current respectively, and α represents the electrical angle in the signal period, and R presentation code device often encloses experience absolute position reference point once;
Signal processing module one, it characterizes passage one, for by converting encoder input signal Asin α, the Bcos α of square-wave signal to, R is processed into signal one to be transmitted;
Signal processing module two, it characterizes passage two, for by converting encoder input signal Asin α, the Bcos α of square-wave signal to, R is processed into signal two to be transmitted;
Arbitration modules, whether it is identical for judging two signals to be transmitted, and as identical, export in the standard message field that the positional information in two passages is added to, the data flow of formation passes to motor servo driver by fieldbus or real-time ethernet.
2. code device signal digital safety transmitting device as claimed in claim 1, it is characterized in that: described signal processing module one comprises: multiplier unit one, it is for carrying out 4 frequencys multiplication to encoder input signal Asin α, Bcos α; Reference point deposit unit one, it often encloses experience absolute position track one once for recording encoder input signal R and forming encoder; Thick counting unit one, it is for calculating coarse position value one according to encoder input signal Asin α, the Bcos α after absolute position track a pair 4 frequencys multiplication, and deriving velocity amplitude one according to described coarse position value one, described coarse position value one, described velocity amplitude one form code one successively; CRC check unit one, it forms described signal to be transmitted for arranging check code at the lowest order of described code one, and the one-period content of described signal one to be transmitted is: coarse position value one, velocity amplitude one, state value one;
Accordingly, described signal processing module two comprises: multiplier unit two, and it is for carrying out 4 frequencys multiplication to encoder input signal Asin α, Bcos α; Reference point deposit unit two, it often encloses experience absolute position track two once for recording encoder input signal R and forming encoder; Thick counting unit two, it is for calculating coarse position value two according to encoder input signal Asin α, the Bcos α after absolute position track a pair 4 frequencys multiplication, and deriving velocity amplitude two according to described coarse position value two, described coarse position value two, described velocity amplitude two form code two successively; CRC check unit two, it forms described signal to be transmitted two for arranging check code at the lowest order of described code two, and the one-period content of described signal two to be transmitted is: coarse position value two, velocity amplitude two, state value two.
3. code device signal digital safety transmitting device as claimed in claim 2, is characterized in that: described signal processing module one also comprises meticulous counting unit, and described meticulous counting unit is used for forming fine location value to described coarse position value one interpolation subdividing.
4. code device signal digital safety transmitting device as claimed in claim 3, is characterized in that: described meticulous counting unit is provided with mechanical angle λ
scomputing unit and rotating speed n computing unit; Mechanical angle λ
scomputing unit obtains mechanical angle λ according to formula (1)
s:
Wherein, N is the resolution of encoder, every rotaring signal periodicity;
Z is movable signal period quantity;
α is the electrical angle in the signal period,
λ
sit is the mechanical angle in the signal period;
Rotating speed n computing unit obtains rotating speed n according to formula (2):
Described meticulous counting unit is according to mechanical angle λ
swith rotating speed n, described fine location value is formed to described coarse position value one interpolation subdividing, make the content alteration in the one-period of described code one become coarse position value one, velocity amplitude one, fine location value, the content alteration in the one-period of corresponding described signal one to be transmitted becomes coarse position value one, velocity amplitude one, fine location value, state value one.
5. code device signal digital safety transmitting device as claimed in claim 1, it is characterized in that: described transmitting device also comprises temperature sensor signal module, described temperature sensor signal module is for measuring the temperature of coil of stator of motor, the temperature value obtained is as the constituent of message transmission, and the one-period belonging to data flow transmits information: " signal one to be transmitted, signal to be transmitted two, temperature value ".
6. a code device signal digitalized transmission method, it has carried out positional information for input signal Asin α, the Bcos α to same encoder, R, the Redundant Control of check information also generates digital signal thus; It is characterized in that: described digital signal passes to motor servo driver with the form of message by fieldbus or real-time ethernet; Described code device signal digitalized transmission method comprises the following steps:
Also convert encoder input signal Asin α, Bcos α, R to square-wave signal respectively; Wherein, A, B represent A phase signals, B phase signals in three-phase alternating current respectively, and α represents the electrical angle in the signal period, and R presentation code device often encloses experience absolute position reference point once;
Adopt passage one, encoder input signal Asin α, the Bcos α, the R that convert square-wave signal to are processed into signal one to be transmitted;
Adopt passage two, encoder input signal Asin α, the Bcos α, the R that convert square-wave signal to are processed into signal two to be transmitted;
Judge that whether two signals to be transmitted are identical, as identical, export in the standard message field that the positional information in two passages is added to, the data flow of formation passes to motor servo driver by fieldbus.
7. code device signal digitalized transmission method as claimed in claim 6, is characterized in that: the treatment step of described signal one to be transmitted comprises:
4 frequencys multiplication are carried out to encoder input signal Asin α, Bcos α;
Record encoder input signal R and form encoder and often enclose experience absolute position track one once;
Calculate coarse position value one according to encoder input signal Asin α, Bcos α after absolute position track a pair 4 frequencys multiplication, and derive velocity amplitude one according to described coarse position value one, described coarse position value one, described velocity amplitude one form code one successively;
Arrange check code at the lowest order of described code one and form described signal to be transmitted, the one-period content of described signal one to be transmitted is: coarse position value one, velocity amplitude one, state value one;
Accordingly, the treatment step of described signal to be transmitted two comprises:
4 frequencys multiplication are carried out to encoder input signal Asin α, Bcos α;
Record encoder input signal R and form encoder and often enclose experience absolute position track two once;
Calculate coarse position value two according to encoder input signal Asin α, Bcos α after absolute position track a pair 4 frequencys multiplication, and derive velocity amplitude two according to described coarse position value two, described coarse position value two, described velocity amplitude two form code two successively;
Arrange check code at the lowest order of described code two and form described signal to be transmitted two, the one-period content of described signal two to be transmitted is: coarse position value two, velocity amplitude two, state value two.
8. code device signal digitalized transmission method as claimed in claim 7, is characterized in that: the treatment step of described signal one to be transmitted also comprises: form fine location value to described coarse position value one interpolation subdividing.
9. code device signal digitalized transmission method as claimed in claim 8, is characterized in that: according to mechanical angle λ
swith rotating speed n, described fine location value is formed to described coarse position value one interpolation subdividing, make the content alteration in the one-period of described code one become coarse position value one, velocity amplitude one, fine location value, the content alteration in the one-period of corresponding described signal one to be transmitted becomes coarse position value one, velocity amplitude one, fine location value, state value one;
Wherein, mechanical angle λ is obtained according to formula (1)
s:
Wherein, N is the resolution of encoder, every rotaring signal periodicity;
Z is movable signal period quantity;
α is the electrical angle in the signal period,
λ
sit is the mechanical angle in the signal period;
Rotating speed n is obtained according to formula (2):
10. code device signal digitalized transmission method as claimed in claim 6, it is characterized in that: described code device signal digitalized transmission method also comprises: analog-to-digital conversion measures the temperature sensor signal that motor temperature obtains, the one-period content that " temperature sensor signal after signal one to be transmitted, signal to be transmitted two, analog-to-digital conversion " is described data flow.
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| CN108599772A (en) | 2018-09-28 |
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