CN105823504A - Zero-point-crossing processing method of encoder - Google Patents
Zero-point-crossing processing method of encoder Download PDFInfo
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- CN105823504A CN105823504A CN201610227152.4A CN201610227152A CN105823504A CN 105823504 A CN105823504 A CN 105823504A CN 201610227152 A CN201610227152 A CN 201610227152A CN 105823504 A CN105823504 A CN 105823504A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
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Abstract
To effectively solve the problem of an angle measurement error brought during measurement of an encoder when crossing a zero point, the invention provides a zero-point-crossing processing method. The method includes the steps of: (1) obtaining an initial value of an encoder; (2) determining the zero-point-crossing type; and (3) performing zero-point-crossing processing according to the zero-point-crossing type. The zero-point-crossing processing method of the encoder is realized by adoption of a method of comparing a collected value with the initial value of the encoder, and can effectively solves the problem that an angle collection error is caused when the encoder crosses the zero point.
Description
Technical field
The present invention relates to Computer Control Technology field, more particularly, to the more zero point processing method of a kind of encoder.
Background technology
Encoder is the equipment needing accurately to have measured mechanism's angle values such as perpendicular, revolution, typically uses absolute value encoder.
But the absolute value encoder that how high range is all has zero point, if forward more zero crossing, the angle value gathered the value near full scale can become the value of zero crossings, if the most more zero crossing, the angle value gathered can become the value near full scale from the value of zero crossings.Forward and reverse more zero crossing all can bring mistake to angular surveying.
Zero point is avoided when being to install in the whole range region measured by a kind of solution, and this method motility is poor, makes troubles especially when using product in batches.If work carelessness arises that potential angular surveying mistake.
Summary of the invention
In order to effectively solve the angular surveying Problem-Error that when encoder is measured, more zero point is brought, the invention provides a kind of method that more zero point processes, including:
(1) initial value of encoder is obtained；
(2) more zero point type is determined；
(3) carry out more zero point according to more zero point type to process.
Further, described step (1) including: obtained the initial value of encoder by collection value and measured value.
Further, the described initial value by collection value and measured value acquisition encoder includes:
(11) the actual coding device collection value that the zero point of the equipment that tag encoder is measured is corresponding is obtained；
(12) measure device measuring angle by third party, obtain the angle value that the measured value of angle, i.e. actual requirement are measured；
(13) difference of the measured value of described actual coding device collection value and described angle is the initial value of encoder.
Further, when using for the first time, the initial value of encoder is 0, and the actual zero point of encoder overlaps.
Further, described step (2) including: according to coding is divided into multiple region, carries out more zero point according to collection value and initial value and judges.
Further, described according to coding being divided into multiple region, carry out more zero point according to collection value and initial value and judge to include:
(21) use the highest 2 of encoder values coding is divided into 4 continuums to be followed successively by, i.e. region I, region II, region III and region IV, non-actual zero point region II, III of district I and IV to be kept apart, avoid vacation encoder zero-crossing adjacent；
(22) choose the subregion point of the zero point of encoder so that the measurement scope of encoder less than adjacent two regions measurement scope and；
(23) use encoder to carry out angular surveying: if wherein encoder initial value is at region II or III, then ignore encoder and get over zero point process；If encoder initial value is in region IV and collection value in region I, then encoder forward gets over zero point；If encoder initial value is in region I, collection value is in region IV, then zero point reversely got over by encoder.
Further, region I and IV subregion point are set to choose the zero point of encoder.
Further, described 4 regions are respectively as follows:
The highest two of region I: encoder values is all 0；
Region II: encoder values highest order is 0, and a secondary high position is 1；
Region III: encoder values highest order is 1, and a secondary high position is 0；
The highest two of region IV: encoder values is all 1.
Further, described step (23) including:
When the highest 2 of encoder initial value is all 1, and collection value is the highest 2 when being all 0, then encoder forward gets over zero crossing；When the highest 2 of encoder initial value is all 0, and collection value is the highest 2 when being all 1, then zero crossing reversely got over by encoder.
Further, described step (3) including:
(31) data bits of encoder being set as n, the encoder angular value more zero point processed is with having symbolic variable record more than n position；
(32) when determining that encoder forward gets over zero crossing, encoder actual acquisition value is added as encoder angular value；
(33) after judging that encoder reversely gets over zero crossing, encoder actual acquisition value is subtracted as encoder angular value.
The invention have the benefit that the processing method of zero point got over by the encoder that the method that the present invention uses collection value to compare with encoder initial value realizes, it is possible to effectively solve the problem that encoder more zero point causes angle acquisition mistake.
Accompanying drawing explanation
Fig. 1 shows that zero point process flow figure got over by the encoder of the present invention.
Fig. 2 shows that encoder measured zone divides schematic diagram.
Fig. 3 shows that encoder forward gets over zero point schematic diagram.
Fig. 4 shows that zero point schematic diagram reversely got over by encoder.
Detailed description of the invention
Below in conjunction with accompanying drawing, technical scheme is described.
As it is shown in figure 1, the method that more zero point processes of the present invention comprises the steps:
(1) initial value of encoder is obtained；
(2) more zero point type is determined；
(3) carry out more zero point according to more zero point type to process.
Preferably, described step (1) including: obtained the initial value of encoder by collection value and measured value.
Preferably, the described initial value by collection value and measured value acquisition encoder includes:
(11) the actual coding device collection value that the zero point of the equipment that tag encoder is measured is corresponding is obtained；
(12) measure device measuring angle by third party, obtain the angle value that the measured value of angle, i.e. actual requirement are measured；
(13) difference of the measured value of described actual coding device collection value and described angle is the initial value of encoder.
Preferably, when using for the first time, the initial value of encoder is 0, and the actual zero point of encoder overlaps.
Preferably, described step (2) including: according to coding is divided into multiple region, carries out more zero point according to collection value and initial value and judges.
Preferably, described according to coding being divided into multiple region, carry out more zero point according to collection value and initial value and judge to include:
(21) use the highest 2 of encoder values coding is divided into 4 continuums to be followed successively by, i.e. region I, region II, region III and region IV, non-actual zero point region II, III of district I and IV to be kept apart, avoid vacation encoder zero-crossing adjacent；
(22) choose the subregion point of the zero point of encoder so that the measurement scope of encoder less than adjacent two regions measurement scope and；
(23) use encoder to carry out angular surveying: if wherein encoder initial value is at region II or III, then ignore encoder and get over zero point process；If encoder initial value is in region IV and collection value in region I, then encoder forward gets over zero point；If encoder initial value is in region I, collection value is in region IV, then zero point reversely got over by encoder.
Preferably, region I and IV subregion point are set to choose the zero point of encoder.
Preferably, described 4 regions are respectively as follows:
The highest two of region I: encoder values is all 0；
Region II: encoder values highest order is 0, and a secondary high position is 1；
Region III: encoder values highest order is 1, and a secondary high position is 0；
The highest two of region IV: encoder values is all 1.
Preferably, described step (23) including:
When the highest 2 of encoder initial value is all 1, and collection value is the highest 2 when being all 0, then encoder forward gets over zero crossing；When the highest 2 of encoder initial value is all 0, and collection value is the highest 2 when being all 1, then zero crossing reversely got over by encoder.
Preferably, described step (3) including:
(31) data bits of encoder being set as n, the encoder angular value more zero point processed is with having symbolic variable record more than n position；
(32) when judging that encoder forward gets over zero crossing, encoder actual acquisition value is added as encoder angular value；
(33) after judging that encoder reversely gets over zero crossing, encoder actual acquisition value is subtracted as encoder angular value.
Although describing the present invention with reference to specific embodiment, it will be understood by those skilled in the art that and can carry out various change on the basis of without departing from the scope of the invention or carry out equivalence replacement.It addition, the content that present invention teach that can be carried out various adjustment on the basis of without departing from the scope of the invention thus adapt to specific environment or material.Therefore, the present invention should not necessarily be limited by disclosed specific embodiment, but should include all embodiments belonging to scope.
Claims (10)
1. get over the method that zero point processes, including:
(1) initial value of encoder is obtained；
(2) more zero point type is determined；
(3) carry out more zero point according to more zero point type to process.
Method the most according to claim 1, it is characterised in that described step (1) including: obtained the initial value of encoder by collection value and measured value.
Method the most according to claim 2, it is characterised in that the described initial value by collection value and measured value acquisition encoder includes:
(11) the actual coding device collection value that the zero point of the equipment that tag encoder is measured is corresponding is obtained；
(12) measure device measuring angle by third party, obtain the angle value that the measured value of angle, i.e. actual requirement are measured；
(13) difference of the measured value of described actual coding device collection value and described angle is the initial value of encoder.
Method the most according to claim 3, it is characterised in that when using for the first time, the initial value of encoder is 0, and the coincidence of encoder actual zero point.
Method the most according to claim 1, it is characterised in that described step (2) including: according to coding is divided into multiple region, carries out more zero point according to collection value and initial value and judges.
Method the most according to claim 5, it is characterised in that described according to coding is divided into multiple region, carries out more zero point according to collection value and initial value and judges to include:
(21) use the highest 2 of encoder values coding is divided into 4 continuums to be followed successively by, i.e. region I, region II, region III and region IV, non-actual zero point region II, III of district I and IV to be kept apart, avoid vacation encoder zero-crossing adjacent；
(22) choose the subregion point of the zero point of encoder so that the measurement scope of encoder less than adjacent two regions measurement scope and；
(23) use encoder to carry out angular surveying: if wherein encoder initial value is at region II or III, then ignore encoder and get over zero point process；If encoder initial value is in region IV and collection value in region I, then encoder forward gets over zero point；If encoder initial value is in region I, collection value is in region IV, then zero point reversely got over by encoder.
Method the most according to claim 6, it is characterised in that region I and IV subregion point are set to choose the zero point of encoder.
Method the most according to claim 6, it is characterised in that described 4 regions are respectively as follows:
The highest two of region I: encoder values is all 0；
Region II: encoder values highest order is 0, and a secondary high position is 1；
Region III: encoder values highest order is 1, and a secondary high position is 0；
The highest two of region IV: encoder values is all 1.
Method the most according to claim 6, it is characterised in that described step (23) including:
When the highest 2 of encoder initial value is all 1, and collection value is the highest 2 when being all 0, then encoder forward gets over zero crossing；When the highest 2 of encoder initial value is all 0, and collection value is the highest 2 when being all 1, then zero crossing reversely got over by encoder.
Method the most according to claim 1, it is characterised in that described step (3) including:
(31) data bits of encoder being set as n, the encoder angular value more zero point processed is with having symbolic variable record more than n position；
(32) when determining that encoder forward gets over zero crossing, encoder actual acquisition value is added as encoder angular value；
(33) after judging that encoder reversely gets over zero crossing, encoder actual acquisition value is subtracted as encoder angular value.
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| CN106441375A (en) * | 2016-09-28 | 2017-02-22 | 中车株洲电力机车研究所有限公司 | Angular speed calculating method and apparatus |
| CN109388156A (en) * | 2018-11-26 | 2019-02-26 | 中国航空工业集团公司洛阳电光设备研究所 | A kind of incremental encoder by image area code seeks zero method |
| CN109751978A (en) * | 2019-02-27 | 2019-05-14 | 合肥威艾尔智能技术有限公司 | Angular transducer non-calibrating method for training simulators manipulation device |
| CN110440846A (en) * | 2019-08-01 | 2019-11-12 | 北京航天发射技术研究所 | A kind of collecting method of encoder, system, terminal and storage medium |
| CN110954129A (en) * | 2019-12-19 | 2020-04-03 | 北京猎户星空科技有限公司 | Method, device, equipment and medium for determining mileage count data |
| CN111238547A (en) * | 2020-01-19 | 2020-06-05 | 东方电气自动控制工程有限公司 | Rotation speed calculation algorithm for zero-crossing turnover of position type encoder |
| CN111999052A (en) * | 2020-08-14 | 2020-11-27 | 北京首钢自动化信息技术有限公司 | Calibration method and calibration device for mesh size of straightening and descaling machine and electronic equipment |
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| CN110440846B (en) * | 2019-08-01 | 2021-07-23 | 北京航天发射技术研究所 | Data acquisition method, system, terminal and storage medium of multi-turn encoder |
| CN110954129A (en) * | 2019-12-19 | 2020-04-03 | 北京猎户星空科技有限公司 | Method, device, equipment and medium for determining mileage count data |
| CN111238547A (en) * | 2020-01-19 | 2020-06-05 | 东方电气自动控制工程有限公司 | Rotation speed calculation algorithm for zero-crossing turnover of position type encoder |
| CN111999052A (en) * | 2020-08-14 | 2020-11-27 | 北京首钢自动化信息技术有限公司 | Calibration method and calibration device for mesh size of straightening and descaling machine and electronic equipment |
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