CN106643824B - A kind of method and capacitance encoder improving capacitance encoder measurement density - Google Patents
A kind of method and capacitance encoder improving capacitance encoder measurement density Download PDFInfo
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- CN106643824B CN106643824B CN201610829189.4A CN201610829189A CN106643824B CN 106643824 B CN106643824 B CN 106643824B CN 201610829189 A CN201610829189 A CN 201610829189A CN 106643824 B CN106643824 B CN 106643824B
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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
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/24—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying capacitance
-
- 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
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/24—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying capacitance
- G01D5/241—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying capacitance by relative movement of capacitor electrodes
Abstract
The present invention provides a kind of capacitance encoders, the polyphase sinusoid carrier generating circuit that can be changed comprising a phase sequence, the angle detecting circuit that the direction of motion of capacitance encoder mover is detected with one, with the phase sequence of the multiphase carrier wave of the direction signal control polyphase sinusoid carrier generating circuit output detected, when angle detecting circuit detects that the direction of motion of mover changes, the phase sequence of polyphase sinusoid carrier generating circuit change multiphase carrier wave, so that no matter whichaway moves capacitance encoder mover, influence to modulating wave always blue shift, because demodulator circuit is certain in the detection number of each modulation wave period, after blue shift occurs for modulating wave, the frequency of modulating wave improves, demodulator circuit is interior at the same time more test points, output position information that can be more frequent, to mention The high measurement density of capacitance encoder.
Description
Technical field
The invention belongs to capacitance encoder technical fields, more particularly, to a kind of side of raising capacitance encoder measurement density
Method and capacitance encoder.
Background technique
In motion detection field, big well known sensor is encoder, is divided into linear encoder and rotary encoder,
Wherein using being widely rotary encoder, because rotary motion can usually change in such a way that motor rotates and adds conveyer belt
For linear movement.Rotary encoder includes 3 seed types: photoelectric encoder, magnetism encoder, capacitance encoder.Compared to photo-electric
Encoder, capacitance-type encoder is more durable, and low cost, can endure rugged environment, for example impact, vibration, dust etc.；Phase
Than magneto-electric encoder, capacitance encoder can provide higher precision, lower cost, and be very suitable to need hollow shaft and
It is not the application of solid shafting.Linear encoder is mostly capacitance encoder, and photoelectric encoder and magnetism encoder is rarely employed.
Capacitance-type encoder is the capacitance of the capacitor by causing in detection motion parts relatively fixed part motion process
Variation, to obtain the relative position information of the two.In application, motion parts are fixed on the moving component of object under test,
The kinematic parameter of object under test can be measured at any time.It is put at various moments to measure capacitance with the variable capacitance of motion change
Capacitance, it is necessary to use an AC signal as excitation, this AC signal is exactly carrier wave, the capacitor that carrier wave passes through variation
Afterwards, it can be modulated by capacitor, to obtain modulating wave, contain carrier information and capacitor value information in modulating wave simultaneously.It is terrible
To capacitor's capacity information, it is necessary to be demodulated to modulating wave.So capacitance encoder is at least needed comprising 3 parts, carrier wave occurs
Circuit, variable capacitance of the capacitance with motion change, demodulator circuit.There are unstable for the measurement density of existing capacitance encoder
Problem, measurement density may drop to very low sometimes, so that not providing enough measurement letters within the defined period
Breath.
Summary of the invention
The principle of the present invention: the capacitance encoder for using phase-modulation principle, measurement density will receive Doppler
The influence of effect；Expression formula sin ω t can be used to indicate in its carrier wave, and wherein ω indicates angular frequency, and t indicates the time, for more
Expression formula sin ω can also can be used by wherein the phase of signal is considered as the phase of carrier wave all the way in the carrier wave of a out of phase
T indicates that the position of the mover of capacitance encoder is indicated with θ, after phase-modulation, modulating wave can use expression formula sin (ω
T+ θ) it indicates, demodulator circuit recovers θ, the position of mover can be obtained.
When mover is in persistent movement, θ is a function relevant with time t, for sake of simplicity it is supposed that mover is even
Speed movement, speed v are substituted into the modulation available modulating wave of formula then the position θ of mover can be expressed as θ=vt
Expression formula be sin ((ω+v) t), it can be seen that, as v>0, the frequency of modulating wave is higher than the frequency of carrier wave, and works as v<0
When, the frequency of modulating wave will be lower than the frequency of carrier wave, and the direction of motion of mover determines that the frequency of modulating wave is to improve or drop
Low, this effect is embodiment of the Doppler effect on capacitance encoder.
Demodulator circuit comparison modulating wave and carrier wave can obtain the location information θ of mover, and demodulator circuit can modulated
It compares, is generally selected at 0 phase or at 180 degree phase at the arbitrary phase of wave, if the frequency of modulating wave is higher, demodulation
The rotor position information θ that circuit obtains will be more, and the measurement density of capacitance encoder also just improves, and in turn, if
The frequency of modulating wave is lower, and the rotor position information θ that demodulator circuit obtains will be fewer, and the measurement density of capacitance encoder is also
It reduces.Doppler effect will lead to capacitance encoder when measuring the movement of different directions, and there are difference for measurement density, and
Worse, when the speed that mover is moved towards some direction is very fast, measurement density may drop to it is very low so that
Within the defined period, enough metrical informations are not provided.
Due to the arrangement of carrier wave on the electrode be in a certain order, electrode put in order be it is fixed, therefore
Always will appear when mover moves in one direction leads to modulating wave blue shift, and while moving to another way causes modulating wave red
It moves.When modulating wave blue shift, Doppler effect can make capacitance encoder measurement density improve, how general when modulating wave red shift
Strangling effect can make capacitance encoder measurement density reduce.
The core concept of the invention is: generating multiphase using the multiphase carrier generating circuit that phase sequence can be changed and carries
Wave, while being detected using the mover direction of motion of the direction of motion detection circuit to capacitance encoder, it is dynamic when detecting
When the direction of motion of son can make modulating wave that red shift occur, changes the phase sequence of carrier generating circuit outgoing carrier, make mover
The direction of motion can make modulating wave occur blue shift, the frequency of modulating wave is improved, to improve the survey of capacitance encoder
Metric density.
In view of this, the present invention is directed to propose a kind of method for improving capacitance encoder measurement density, eliminates Doppler
Effect causes capacitance encoder mover to cause to measure the problem of density reduces towards modulating wave red shift when the movement of some direction, together
Shi Tigao capacitance encoder measures density.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
A method of it improving capacitance encoder and measures density, including following content: by detecting capacitance encoder mover
The direction of motion, generate a control signal relevant to the direction of motion；
Pass through the defeated of the different carrier signal of multiple phases of the control signal control capacitance encoder input terminal connection
Blue shift occurs for phase arrangement sequence out, the modulating wave for making the direction of motion of mover always make capacitance encoder；
Wherein, the capacitance encoder is the capacitance encoder using phase-modulation principle, the appearance of the capacitance encoder
Value can change with the movement of mover, so that the modulating wave that phase changes with mover change in location has been obtained, when mover exists
When persistent movement, the frequency of modulating wave can also be modulated.
Further, the method for detecting the direction of motion of capacitance encoder mover is that more previous moment output is moved
The rotor position information of sub- location information and current time output, can be obtained the direction of motion of mover.
Further, the method for detecting the direction of motion of capacitance encoder mover is to detect the period of modulating wave, compares tune
The period of wave processed and the size of carrier cycle, can be obtained the direction of motion of mover.
Compared with the existing technology, method of the present invention has the advantage that
(1) by the phase sequence of the multichannel carrier of control input, so that no matter the mover of capacitance encoder is towards which side
To movement, it can all make modulating wave that blue shift occur, to improve the frequency of modulating wave, the measurement for improving capacitance encoder is close
Degree；
(2) after using technology of the invention, when the mover movement velocity of capacitance encoder is fast, the measurement of capacitance encoder
Density ratio mover moves slow Shi Yaogao, is equal to the measurement accuracy for improving capacitance encoder.
Another object of the present invention is to propose a kind of capacitance encoder, eliminating Doppler effect causes capacitance encoder dynamic
Son causes to measure the problem of density reduces towards modulating wave red shift when the movement of some direction, while improving capacitance encoder measurement
Density.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
A kind of capacitance encoder, comprising:
Multiphase carrier generating circuit includes at least one input port and multiple output ports, the multiple output port
The different carrier signal of respective output phase, when the signal that input port receives changes, multiple output port institutes are defeated
The phase of carrier signal out changes；
Multiple variable capacitances, it is road-load that the input terminal of each variable resistance is separately connected multiphase carrier generating circuit exports one
Wave signal；
Demodulator circuit, input terminal connect the modulating wave output that multiple variable capacitances generate, output end output；
Direction of motion detection circuit judges the direction of motion of capacitance encoder mover according to the output signal of demodulator circuit,
The input port that a control signal relevant to the direction of motion is output to multiphase carrier generating circuit is generated, multiphase carrier wave is controlled
The phase arrangement sequence of the carrier signal of multiple output ports output of generation circuit, makes the direction of motion of mover always make capacitor
Blue shift occurs for the modulating wave of encoder.
Further, the multiphase carrier generating circuit exports the sine wave that 4 phase differences are 90 degree simultaneously, according to movement
Putting in order for increasing or decreasing can be presented in the difference of the control signal of angle detecting circuit output, 4 sine wave phases.
Further, the multiphase carrier generating circuit exports the sine wave that 2 phase differences are 90 degree simultaneously, according to movement
Putting in order for increasing or decreasing can be presented in the difference of the control signal of angle detecting circuit output, 2 sine wave phases.
It further, include multiple change-over switches in the multiphase carrier generating circuit, control signal passes through control conversion
Switch changes the phase arrangement sequence of the carrier signal of multiple output port outputs.
Further, the input of the direction of motion detection circuit is location information, exports the direction letter for mover movement
Breath, the inside of the direction of motion detection circuit include location information comparison circuit.
Compared with the existing technology, capacitance encoder of the present invention has the advantage that
(1) by adjusting the phase sequence of the carrier wave of multiphase carrier generating circuit output, so that the mover of capacitance encoder
No matter whichaway moves, and can all make modulating wave that blue shift occur and improve capacitive encoder to improve the frequency of modulating wave
The measurement density of device；
(2) after using technology of the invention, when the mover movement velocity of capacitance encoder is fast, the measurement of capacitance encoder
Density ratio mover moves slow Shi Yaogao, is equal to the measurement accuracy for improving capacitance encoder；
(3) inventive encoder design is simple, easy to accomplish.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the schematic front perspective view of capacitance encoder in the embodiment of the present invention.
Fig. 2 is the side schematic view of capacitance encoder in the embodiment of the present invention.
Fig. 3 is to emit pole plate in the embodiment of the present invention to be electrically connected schematic diagram.
Fig. 4 is to receive pole plate in the embodiment of the present invention to be electrically connected schematic diagram.
Fig. 5 is the front shape schematic diagram of mover in the embodiment of the present invention.
Fig. 6 is the circuit diagram of encoder measuring principle in the embodiment of the present invention.
Fig. 7 is the circuit diagram of direction of motion detection circuit in the embodiment of the present invention.
Fig. 8 is the circuit diagram of multiphase carrier generating circuit in the embodiment of the present invention.
Fig. 9 is schematic diagram when phase of the multiphase carrier wave in complex plane coordinate is incremented by the embodiment of the present invention.
Schematic diagram when Figure 10 is phase taper of the multiphase carrier wave in complex plane coordinate in the embodiment of the present invention.
Figure 11 is the circuit diagram of the connection of each section in the embodiment of the present invention.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
One embodiment of the invention, capacitance encoder, including 20,4 variable capacitances of multiphase carrier generating circuit, demodulator circuit
30 and direction of motion detection circuit 60；
The variable capacitance includes stator and mover 13, and the stator has 2, has separately included two pole plates of capacitor,
One of them is defined as emitting pole plate 11, another is defined as receiving pole plate 12；The mover 13 be located at two pole plates it
Between, the material by dielectric constant not equal to the dielectric constant of air is constituted, usually selection insulating materials, and dielectric constant is much larger than sky
The dielectric constant of gas；2 stators and 1 mover 13 are assembled together in concentric manner, and there are air between three
Gap, as depicted in figs. 1 and 2；The receiving electrode plate 12 is an annulus, is made of an electrically conducting material, and connects demodulator circuit, such as
Shown in Fig. 4.
32 emission electrode pieces, circle of 32 emission electrode pieces around transmitting pole plate 11 are contained on the transmitting pole plate 11
Week is uniformly distributed, and is made of an electrically conducting material；Wherein with 4 emission electrode pieces for one group, 8 groups are constituted, is connected with each other between each group
Together, 4 electrodes are ultimately formed, 4 electrodes receive 4 road carrier signals respectively, and 4 road carrier signals are produced from multiphase carrier wave
Raw circuit 20, as shown in Figure 3.
The transmitting pole plate 11 and the electrode for receiving on pole plate 12 together constitute capacitance with encoder body movement and
The variable capacitance of variation, circuit are expressed as 4 variable capacitance parallel connections, respectively the first variable capacitance 41, the second variable capacitance
42, third variable capacitance 43 and the 4th variable capacitance 44, the air when mover 13 rotates, among the pole plate of 4 variable capacitances
Ratio regular meeting with insulating materials changes, and is equivalent to the change in dielectric constant of capacitor, therefore the capacitance of 4 variable capacitances can all become
Change, and angle locating for the capacitance of variable capacitance and rotor 13 has the relationship mapped one by one.
4 variable capacitances can be modulated 4 road carrier signals, and synthesize 1 road modulation wave signal 31；Demodulator circuit 30
Modulation wave signal 31 is demodulated, obtains location information 51, as shown in Figure 6.
Motion detection circuit 60 described in present embodiment includes register 62, and comparator 63, one of them of comparator be defeated
Enter to be connected to the output of register, this first position signal 64 is the rotor position information of previous moment, another input connects
It is connected to the input of register, this second position signal 51 is the rotor position information at current time；By comparing the previous moment
The rotor position information of the rotor position information of output and current time output, can be obtained the direction of motion of mover, the fortune
The circuit diagram schematic diagram of dynamic detection circuit is as shown in Figure 7；For rotary motion encoder, it is normally defined clockwise inverse clock two
Kind direction is typically positioned as forwardly and rearwardly two kinds of directions for linear movement encoder, according to the obtained direction of motion, fortune
The dynamic output of detection circuit 60 control signal.
The another embodiment of the motion detection circuit 60 is to detect the period of modulating wave, compares the period of modulating wave
With the size of carrier cycle, the direction of motion of mover can be obtained.
After the motion detection circuit 60 detects 13 direction of motion of mover, the road-load wave phase in current 4 can be known
It puts in order, the direction of motion for detecting mover can make modulating wave 31 that blue shift or red shift occur, if it is blue shift, then just making
Output signal 61 keeps current level, if it is red shift, then switches the level of output signal 61, makes the direction of motion of mover
Meeting improves the measurement density of capacitance encoder to improve the frequency of modulating wave so that blue shift occurs for modulating wave.
The multiphase carrier generating circuit 20 includes input port 25 and 4 output port, the respectively first output
Port 26, second output terminal mouth 27, third output port 28, the 4th output port 29；The input port 25 connects movement side
The control signal (level signal) exported to 60 output end of detection circuit；The circuit diagram of multiphase carrier generating circuit such as Fig. 8
It is shown；
When it is high level that input port 25, which receives control signal, it is 90 that 4 output ports, which are sequentially output 4 road phase differences,
4 road sinusoidal carriers of degree, respectively first via sinusoidal carrier 21, the second road sinusoidal carrier 22, third road sinusoidal carrier 23, the 4th
Road sinusoidal carrier 24, the expression formula of carrier wave are followed successively by sin ω t, sin (ω t+90), sin (ω t+180), sin (ω t+
270)；What the carrier phase presentation of 4 output port outputs was incremented by puts in order, and is plotted in complex plane coordinate diagram, is in
Inverse clock arrangement, as shown in Figure 9；
When the control signal that input port 25 receives is low level, second output terminal mouth 27 and the 4th output port 29
The carrier signal of output exchange, export the 4th road sinusoidal carrier 24 and the second road sinusoidal carrier 22,4 output ends respectively
The expression formula of the carrier wave of mouth output is followed successively by sin ω t, sin (ω t+270), and sin (ω t+180), sin (ω t+90), 4 defeated
What the carrier phase presentation of exit port output was successively decreased puts in order, and is plotted in complex plane coordinate diagram, is arranged in clockwise,
As shown in Figure 10.
The phase sequence of these carrier signals can be exchanged according to the information of input port, while these carrier signals
It being connected on the variable capacitance of capacitance encoder, the capacitance of variable capacitance can change with the movement of the mover of capacitance encoder,
To having obtained the modulating wave that phase changes with mover change in location, when mover is in persistent movement, the frequency of modulating wave
It can be modulated.
The output signal 61 of motion detection circuit 60 is connected to multiphase carrier generating circuit 20 by capacitance encoder of the present invention
Input port 25, as shown in figure 11, when angle detecting circuit detects that the direction of motion of mover 13 changes, multiphase is just
String wave carrier signal generation circuit 20 changes the phase sequence of multiphase carrier wave, so that capacitance encoder mover 13 no matter transport by whichaway
It is dynamic, influence to modulating wave 31 always blue shift because demodulator circuit in the detection number of each modulation wave period be it is certain, when
After blue shift occurs for modulating wave 31, the frequency of modulating wave 31 is improved, and demodulator circuit 30 is interior at the same time more detections
Point, output position information that can be more frequent, to improve the measurement density of capacitance encoder.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (7)
1. a kind of method for improving capacitance encoder measurement density, it is characterised in that including following content:
By detecting the direction of motion of capacitance encoder mover, a control signal relevant to the direction of motion, the electricity are generated
Holding encoder is the capacitance encoder using phase-modulation principle；
Multiple phases that one end pole plate for the multiple variable capacitances for controlling capacitance encoder by the control signal is connected are not
Blue shift occurs for the phase arrangement sequence of same carrier signal, the modulating wave for making the direction of motion of mover always make capacitance encoder.
2. the method according to claim 1 for improving capacitance encoder measurement density, it is characterised in that: detection capacitive encoder
The method of the direction of motion of device mover is the rotor position information of more previous moment output and the mover of current time output
The direction of motion of mover can be obtained in location information.
3. the method according to claim 1 for improving capacitance encoder measurement density, it is characterised in that: detection capacitive encoder
The method of the direction of motion of device mover is to detect the period of modulating wave, compares the period of modulating wave and the size of carrier cycle, i.e.,
The direction of motion of mover can be obtained.
4. a kind of capacitance encoder, comprising:
Multiphase carrier generating circuit includes at least one input port and multiple output ports, and the multiple output port is respectively
The different carrier signal of output phase, when the signal that input port receives changes, what multiple output ports were exported
The phase of carrier signal changes；
Multiple variable capacitances, one end pole plate of each variable capacitance are separately connected the carrier wave all the way of multiphase carrier generating circuit output
Signal；
Demodulator circuit, input terminal connect the other end pole plate of multiple variable capacitances, and input is produced by multiple variable capacitances
Modulating wave output, output end export mover location information；
Characterized by further comprising:
Direction of motion detection circuit detects the direction of motion of capacitance encoder mover according to the output signal of demodulator circuit, generates
One control signal relevant to the direction of motion is output to the input port of multiphase carrier generating circuit, and control multiphase carrier wave generates
The phase arrangement sequence of the carrier signal of multiple output ports output of circuit, makes the direction of motion of mover always make capacitive encoder
Blue shift occurs for the modulating wave of device.
5. capacitance encoder according to claim 4, it is characterised in that: the multiphase carrier generating circuit exports 4 simultaneously
The sine wave that a phase difference is 90 degree, according to the difference of the control signal of direction of motion detection circuit output, 4 sine wave phases
Putting in order for increasing or decreasing can be presented.
6. capacitance encoder according to claim 4, it is characterised in that: the multiphase carrier generating circuit exports 2 simultaneously
The sine wave that a phase difference is 90 degree, according to the difference of the control signal of direction of motion detection circuit output, 2 sine wave phases
Putting in order for increasing or decreasing can be presented.
7. capacitance encoder according to claim 4, it is characterised in that: comprising multiple in the multiphase carrier generating circuit
Change-over switch, control signal are suitable by the phase arrangement for controlling the carrier signal that change-over switch changes multiple output port outputs
Sequence.
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