CN106647639A - Servo control real time position obtaining method and system based on incremental mode - Google Patents
Servo control real time position obtaining method and system based on incremental mode Download PDFInfo
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- CN106647639A CN106647639A CN201611214782.4A CN201611214782A CN106647639A CN 106647639 A CN106647639 A CN 106647639A CN 201611214782 A CN201611214782 A CN 201611214782A CN 106647639 A CN106647639 A CN 106647639A
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- time position
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4141—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by a controller or microprocessor per axis
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/33—Director till display
- G05B2219/33218—Motor encoders, resolvers on common bus with drives, servo controllers
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- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The invention discloses a servo control real time position obtaining method and system based on an incremental mode; the method comprises the following steps: using the stable working feature of a rotary transformer under severe conditions; using an incremental coding mode of an existing main stream rotary transformer decoding chip (RDC); converting a servo turntable real time position into an incremental encoding signal; sending the signal to a digit signal processing system; decoding the signal, and sending information to a host through an internet port. The servo control real time position obtaining method and system can stably work under severe conditions, and can eliminate the hysteretic nature caused by directly using a serial port to transmit data.
Description
Technical field
Present invention relates particularly to a kind of SERVO CONTROL real time position acquisition methods and system based on incremental mode.
Background technology
In high-speed servo turret systems, accurate acquisition turntable real time position is particularly significant.Higher height is needed in system
Under the requirement of low temperature applicability and preferable shock resistance, the photoelectric encoder of current main flow has poor for applicability, relatively costly lacking
Point.Obtaining position in real time using rotary transformer needs decoded position to be sent to host computer by serial ports, and this can bring
Larger delayed time delay, so as to produce larger error.
The content of the invention
For the problems referred to above, the present invention proposes a kind of SERVO CONTROL real time position acquisition methods based on incremental mode and is
System.
Above-mentioned technical purpose is realized, above-mentioned technique effect is reached, the present invention is achieved through the following technical solutions：
A kind of SERVO CONTROL real time position acquisition methods based on incremental mode, comprise the following steps：
Step one, rotary transformer decoding chip coordinate the rotary transformer being connected with servomotor to obtain servo turntable reality
When position, and form incremental encoding signal, incremental encoding signal is three road single-ended signal A, B, NM, Transistor-Transistor Logic level；
Step 2, the incremental encoding signal is converted to differential signal and is sent to data signal by single-ended-difference chip
Processing system；
When step 3, servo turntable are rotated, digital information processing system wait captures NM signal rising edges and starts to A, B
Any saltus step of two paths of signals is counted, and NM rising edges is encountered every time and then resets count value, calculates current exhausted of servo turntable
To position, bias is sent to by host computer by serial ports；
Step 4, in debugging process determine servo turntable relative zero-bit, NM signal rising edges are captured in step 3
Then show that servo turntable reaches absolute zero position, bias is calculated according to relative zero-bit and absolute zero position, will be biased by serial ports
Value is sent to host computer；
The bias of step 5, host computer in the servo turntable current absolute location and step 4 obtained in step 3
Calculate the current real time position of servo turntable.
Further, in the step 3, the absolute position for calculating servo turntable is specially：Rotary transformer decoding chip
Set data bits is n, and incremental encoding signal-count is m, then the current absolute position of servo turntable is：[360×(m/
2n)]°。
Further, in the step 5, calculate real time position and be specially：Hypothesis bias is x, then real time position is：
[360×(m/2n)-x]°。
Further, described three roads single-ended signal A, B, NM, wherein A and B is pulse signal, rotary transformer rotation one
Umber of pulse produced by circle is 2n, wherein n be rotary transformer decoding chip data bits, a-signal phase-lead B signal pi/2, NM
Signal is that rising pulses are produced when rotary transformer is in absolute zero position, and the pulsewidth of NM signals is the one of a-signal pulsewidth
Half.
A kind of SERVO CONTROL real time position based on incremental mode obtains system, including servo-control system, data signal
Processing system and host computer；The output end of the servo-control system is connected respectively with digital information processing system and host computer；
The output end of the digital information processing system is also connected with host computer.
Further, the servo-control system includes：Servo Control Board, servo-driver, electric rotating machine, rotation transformation
Device, rotary transformer decoding chip and the power supply for power supply；The Servo Control Board is provided with communication interface, for it is upper
Machine communicates, and the output end of Servo Control Board is connected respectively with servo-driver and electric rotating machine, the output end of servo-driver
It is connected with electric rotating machine；The input of the rotary transformer is connected with electric rotating machine, and its output end is decoded with rotary transformer
Chip is connected.
Further, the communication interface is RS232 serial ports.
Beneficial effects of the present invention：
A kind of SERVO CONTROL real time position acquisition methods and system based on incremental mode of the present invention, the method is using rotation
Transformation depressor under severe conditions can steady operation characteristic, while using current main flow rotary transformer decoding chip (referred to as
Incremental encoding pattern RDC, similarly hereinafter), by the real time position of servo turntable incremental encoding signal is converted into, and is sent to data signal
Processing system, is sent to host computer after decoding by network interface.The present invention can steady operation in the presence of a harsh environment, and can exclude straight
Connected the hysteresis quality that serial ports sends data.
Description of the drawings
Fig. 1 is the method flow diagram of an embodiment of the present invention；
Fig. 2 is the structured flowchart of the servo-control system of an embodiment of the present invention；
Incremental encoding signal schematic representations of the Fig. 3 obtained by the rotary transformer decoding chip of an embodiment of the present invention.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that specific embodiment described herein is not used to only to explain the present invention
Limit the present invention.
The application principle of the present invention is explained in detail below in conjunction with the accompanying drawings.
A kind of SERVO CONTROL real time position acquisition methods based on incremental mode, comprise the following steps：
As shown in figure 1, step one, rotary transformer decoding chip coordinate the rotary transformer being connected with servomotor to obtain
Servo turntable real time position, and form incremental encoding signal, incremental encoding signal is three road single-ended signal A, B, NM, Transistor-Transistor Logic level；
Step 2, the incremental encoding signal is converted to differential signal and is sent to data signal by single-ended-difference chip
Processing system；
When step 3, servo turntable are rotated, digital information processing system wait captures NM signal rising edges and starts to A, B
Any saltus step of two paths of signals is counted, and NM rising edges is encountered every time and then resets count value, calculates current exhausted of servo turntable
To position, bias is sent to by host computer by serial ports；
Step 4, in debugging process determine servo turntable relative zero-bit (can be achieved by the prior art), step 3
In capture NM signals rising edge and then show that servo turntable reaches absolute zero position, calculated according to relative zero-bit and absolute zero position
Go out bias, bias is sent to by host computer by serial ports；
The bias of step 5, host computer in the servo turntable current absolute location and step 4 obtained in step 3
Calculate the current real time position of servo turntable.
In the step 3, the absolute position for calculating servo turntable is specially：Data set by rotary transformer decoding chip
Digit is n, and incremental encoding signal-count is m, then the current absolute position of servo turntable is：[360×(m/2n)]°。
In step 5, the current real time position of servo turntable that calculates is specially：Hypothesis bias is x, then real-time position
It is set to：[360×(m/2n)-x]°。
Described three roads single-ended signal A, B, NM, wherein A and B is pulse signal, and rotary transformer rotation is turned around produced
Umber of pulse is 2n, wherein n is rotary transformer decoding chip data bits, and a-signal phase-lead B signal pi/2, NM signals are to work as
Rotary transformer produces rising pulses when being in absolute zero position, pulsewidth is the half of a-signal pulsewidth, when rotating clockwise,
Incremental encoding signal is referring to Fig. 3.
A kind of SERVO CONTROL real time position based on incremental mode obtains system, it is characterised in that：Including SERVO CONTROL system
System, digital information processing system and host computer；The output end of the servo-control system respectively with digital information processing system and
Host computer is connected；The output end of the digital information processing system is also connected with host computer.
The servo-control system includes：Servo Control Board, servo-driver, electric rotating machine, rotary transformer, rotation become
Depressor decoding chip and the power supply for power supply；The Servo Control Board is provided with communication interface, for communicating with host computer, connects
Receive the signal that host computer sends out；The output end of Servo Control Board is connected respectively with servo-driver and electric rotating machine, servo
The output end of driver is also connected with electric rotating machine, and Servo Control Board sends driver control signal to servo-driver, servo
Driver sends servo drive signal to electric rotating machine, and Servo Control Board is additionally operable to send band-type brake signal to electric rotating machine；Institute
The input for stating rotary transformer is connected with electric rotating machine, and its output end is connected with rotary transformer decoding chip, rotates transformation
Device decoding chip coordinates the rotary transformer being connected with servomotor to obtain servo turntable real time position, and forms incremental encoding letter
Number, incremental encoding signal be three road single-ended signal A, B, NM, Transistor-Transistor Logic level.
Preferably, the communication interface is RS232 serial ports.
Embodiment one
In certain XX project, because equipment scattering angle is limited, need in two states switching：Scanning and tracking.Scanning
State is that equipment is horizontally oriented 360 ° of continuous rotations；Tracking mode is indicated according to the target location that host computer continuously sends
Continuous motion.This is accomplished by servo turntable carrying digital signal processor and other equipment is carried out first after instruction is connected to
The high speed open loop rotation of 240 °/s, closed loop of the maximal rate less than 60 °/s is then changed to after new instruction is connected to and is rotated.
Real-time Feedback revolving table position is required in whole process, worst error must not exceed 1 °, and system context requires to consider that vehicle shakes
The dynamic environmental condition with -40 DEG C -60 DEG C.
In the system, we are using collector ring transmitting digital signals processor and host computer, digital signal processor and watch
Take the signal between controlling machine box.SERVO CONTROL cabinet is placed in the base of system, comprising Servo Control Board, servo-driver and
Power supply.Because the working environment of servo-control system has more complicated electromagnetic interference, in the design process of system hardware
In stress cable shielding characteristic in particular.Each holding wire is both needed to adopt shielded cable, shielded cable and screen layer to be grounded, servo control
Making sheet need to be assemblied in shielding box..
Servo Control Board uses the single-chip microcomputer XE167 of Infineon as Master control chip (i.e. digital information processing system),
The chip has floating-point operation ability and more comprehensive peripheral hardware, it is adaptable to SERVO CONTROL.Core is decoded using AD2S1210 as RDC
Piece (i.e. rotary transformer decoding chip), the chip data precision can be selected in 10,12,14,16 four kinds of precision,
Incremental encoding can be produced, RDC can pass through XE167 initial configurations.During angle measurement, AD2S1210 is first to rotation transformation
Device sends pumping signal, and rotary transformer feeds back two paths of signals to AD2S1210, and AD2S1210 is calculated according to feedback signal and worked as
Front angle is simultaneously exported by two kinds of forms of SPI and incremental encoding.The pumping signal that AD2S1210 sends is the sinusoidal letter of one group of difference
Number, feedback signal is two groups of difference sinusoidal signals.It is defeated because the pumping signal of rotary transformer requires that typical peak-to-peak value is 7V
It is 3.14V to go out signal typical case's peak-to-peak value；And the typical peak-to-peak value of the output drive signal of AD2S1210 be 3.6V, input signal
It is required that typical peak-to-peak value is 3.15V.Therefore the second order based on amplifier in the design of AD2S1210 signal imitation signals access port is needed
Filter amplification circuit, for the peak-to-peak value of pumping signal and feedback signal to be adjusted to the scope of application, while playing filtering clutter
The effect of interference.
The bias of turntable absolute zero position (i.e. absolute zero) and relative zero-bit (with respect to zero degree) can in advance be stored in EEPROM
Chip, single-chip microcomputer (digital information processing system) is read the bias and is sent out by RS232 serial ports when system initialization
It is sent to digital signal processor host computer.The absolute position values that digital signal processor passes through incremental encoding pattern acquiring turntable,
And host computer is sent to by RS232 serial ports, host computer calculates the current real time position of turntable, and as absolute position values are deducted partially
Put value.
, with simulating, in wiring both are separated in internal planes, in power input comprising digitally in Servo Control Board
End is isolated them using 0 Ohmic resistance, and all analog powers are isolated with digital power using inductance.While servo-driver
Photoelectric coupler isolation is used between power supply and digital simulation power supply.Can reduce RDC chips using these process to be disturbed.
Accompanying drawing 2 is the structured flowchart of servo-control system.Because Servo Control Board is total to by the data that RS232 serial ports sends
250bit, being sent according to computing only control panel framing just at least needs 6.5ms, then feedback error just exists under the conditions of 240 °/s
More than 1.5 °.Thus employ based on the SERVO CONTROL real time position acquisition methods of incremental mode, because encoded signal can be immediately
Digital information processing system is sent to, digital information processing system can quickly obtain servo real time position, and quick by netting twine
Transmit to host computer, so as to reduce the error brought after serial ports is decoded.
The general principle and principal character and advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel it should be appreciated that the present invention is not restricted to the described embodiments, the simply explanation described in above-described embodiment and specification this
The principle of invention, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, these changes
Change and improvement is both fallen within scope of the claimed invention.The claimed scope of the invention by appending claims and its
Equivalent thereof.
Claims (7)
1. a kind of SERVO CONTROL real time position acquisition methods based on incremental mode, it is characterised in that comprise the following steps：
Step one, rotary transformer decoding chip coordinate the rotary transformer being connected with servomotor to obtain the real-time position of servo turntable
Put, and form incremental encoding signal, incremental encoding signal be three road single-ended signal A, B, NM, Transistor-Transistor Logic level；
Step 2, the incremental encoding signal is converted to differential signal and is sent to Digital Signal Processing by single-ended-difference chip
System；
When step 3, servo turntable are rotated, digital information processing system wait captures NM signal rising edges and starts to A, B two-way
Any saltus step of signal is counted, and NM rising edges is encountered every time and then resets count value, calculates the current absolute position of servo turntable
Put, bias is sent to by host computer by serial ports；
Step 4, in debugging process determine servo turntable relative zero-bit, NM signals rising edge then table is captured in step 3
Bright servo turntable reaches absolute zero position, and according to relative zero-bit and absolute zero position bias is calculated, and is sent out bias by serial ports
It is sent to host computer；
The bias of step 5, host computer in the servo turntable current absolute location and step 4 obtained in step 3 is calculated
Go out the current real time position of servo turntable.
2. a kind of SERVO CONTROL real time position acquisition methods based on incremental mode according to claim 1, its feature exists
In：In the step 3, the absolute position for calculating servo turntable is specially：Data bits set by rotary transformer decoding chip is
N, incremental encoding signal-count is m, then the current absolute position of servo turntable is：[360×(m/2n)]°。
3. a kind of SERVO CONTROL real time position acquisition methods based on incremental mode according to claim 1, its feature exists
In：In the step 5, calculate real time position and be specially：Hypothesis bias is x, then real time position is：[360×(m/2n)-
x]°。
4. a kind of SERVO CONTROL real time position acquisition methods based on incremental mode according to claim 1, its feature exists
In：Described three roads single-ended signal A, B, NM, wherein A and B is pulse signal, and rotary transformer revolves the produced umber of pulse that turns around
For 2n, wherein n is rotary transformer decoding chip data bits, and a-signal phase-lead B signal pi/2, NM signals are when rotation becomes
Depressor produces rising pulses when being in absolute zero position, the pulsewidth of NM signals is the half of a-signal pulsewidth.
5. a kind of SERVO CONTROL real time position based on incremental mode obtains system, it is characterised in that：Including servo-control system,
Digital information processing system and host computer；The output end of the servo-control system respectively with digital information processing system and upper
Machine is connected；The output end of the digital information processing system is also connected with host computer.
6. a kind of SERVO CONTROL real time position based on incremental mode according to claim 5 obtains system, and its feature exists
In：The servo-control system includes：Servo Control Board, servo-driver, electric rotating machine, rotary transformer, rotary transformer
Decoding chip and the power supply for power supply；The Servo Control Board is provided with communication interface, for communicating with host computer, servo control
The output end of making sheet is connected respectively with servo-driver and electric rotating machine, the output end of servo-driver also with electric rotating machine phase
Even；The input of the rotary transformer is connected with electric rotating machine, and its output end is connected with rotary transformer decoding chip.
7. a kind of SERVO CONTROL real time position based on incremental mode according to claim 5 obtains system, and its feature exists
In：The communication interface is RS232 serial ports.
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Cited By (6)
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| CN107525530A (en) * | 2017-08-08 | 2017-12-29 | 吉林大学 | A kind of integrated circuit of absolute optical encoder |
| CN109579676A (en) * | 2018-11-26 | 2019-04-05 | 南京长峰航天电子科技有限公司 | A kind of location decodingmethod and system based on two speed resolver phase failure |
| CN110376940A (en) * | 2019-07-03 | 2019-10-25 | 中北大学 | A kind of high response coding/decoding method of rotary transformer high-precision based on DSP |
| CN112649018A (en) * | 2019-10-13 | 2021-04-13 | 九江精密测试技术研究所 | Centralized control's inclination testing arrangement |
| CN112923957A (en) * | 2019-12-06 | 2021-06-08 | 合肥欣奕华智能机器有限公司 | Signal processing method and device for servo driver and encoder |
| CN113377045A (en) * | 2021-06-08 | 2021-09-10 | 广东三姆森科技股份有限公司 | Multi-path position comparison output device based on FPGA |
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| CN113377045A (en) * | 2021-06-08 | 2021-09-10 | 广东三姆森科技股份有限公司 | Multi-path position comparison output device based on FPGA |
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