CN106655646A - Hybrid optoelectronic encoder installation error compensation value determination system and method - Google Patents
Hybrid optoelectronic encoder installation error compensation value determination system and method Download PDFInfo
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- CN106655646A CN106655646A CN201611060226.6A CN201611060226A CN106655646A CN 106655646 A CN106655646 A CN 106655646A CN 201611060226 A CN201611060226 A CN 201611060226A CN 106655646 A CN106655646 A CN 106655646A
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- alignment error
- value
- error offset
- microprocessor
- photoelectric encoder
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Abstract
The invention relates to a hybrid optoelectronic encoder installation error compensation value determination system and method. The system comprises a microprocessor, a Hall current sensor, an A/D conversion circuit module, a current signal conditioning circuit and a three-phase power driver for driving a servo motor provided with a hybrid optoelectronic encoder. The method includes the following steps that: firstly, direct-current bus-bar current signals are acquired and processed when an installation error compensation value is zero; secondly, direct-current bus-bar current signals are acquired and processed when the installation error compensation value is an installation error compensation minimum angle; thirdly, X and Y are compared with each other according to conditions, and the installation error compensation value of the hybrid optoelectronic encoder is adjusted; and fourthly, the installation error compensation value of the hybrid optoelectronic encoder is determined. The hybrid optoelectronic encoder installation error compensation value determination system and method of the invention have the advantages of reasonable design, convenient implementation, low cost, convenient use and operation, high adaptability, high practicability and excellent use effects, and do not need to consume too many manpower and material resources, and are suitable for being popularized.
Description
Technical field
The invention belongs to encoder error in mounting position alignment technique field, and in particular to a kind of mixed photoelectric encoder
Alignment error offset determines system and method.
Background technology
In Serve Motor Control field, in order to carry out the precise control of position or speed and improve the control of servomotor
Performance, the position and velocity information in the initial position for generally requiring to know rotor and running, this can be by installing
Rotor-position sensor is obtaining.Wherein mixed photoelectric encoder combines absolute position photoelectric encoder and incremental position
The advantage of photoelectric encoder, both provided the absolute location information of low resolution, also provided the delta pulse signal of high-resolution,
Moderate cost, therefore need the servomotor field of initial position message to be widely used all kinds of.However, with other kinds of biography
Sensor is the same, and mixed photoelectric encoder rigging error when mounted can cause servomotor actual rotor position and pass through mixed
There is error between the rotor-position that box-like photoelectric encoder is detected, the presence of this detection error can cause undesirable and not
Controllable direct-axis current, so as to affect the precision of startup and the operation control of servomotor, reduces the efficiency of control system, sternly
During weight servomotor can be caused to start or invert.
The artificial method for repeating experiment, adjustment is generally adopted to mix the detection of mixed photoelectric encoder installation site at present
The installation site of box-like photoelectric encoder, until meeting required precision, testing cost is high, efficiency is low, and the manpower and materials of consuming are high.
The content of the invention
The technical problem to be solved is for above-mentioned deficiency of the prior art, there is provided a kind of structure letter
It is single, reasonable in design, realize convenient and low cost, using easy to operate, strong adaptability, too many manpower and materials, reality need not be expended
Determine system with the mixed photoelectric encoder alignment error offset that property is strong, using effect is good.
To solve above-mentioned technical problem, the technical solution used in the present invention is：A kind of mixed photoelectric encoder is installed and missed
Difference offset determines system, it is characterised in that：Including microprocessor and for the DC bus current powered to servomotor
The Hall current sensor of real-time detection is carried out, the input of the microprocessor is terminated with A/D conversion circuit modules, the A/D
The input of conversion circuit module is terminated with the current signal for being amplified conditioning to the signal that Hall current sensor is exported
Modulate circuit, the output end of the Hall current sensor is connected with the input of current signal conditioning circuit, the microprocessor
The output of device is terminated with the three phase power driver for driving the servomotor equipped with mixed photoelectric encoder, the servo
Motor is connected with the output end of three phase power driver.
Above-mentioned mixed photoelectric encoder alignment error offset determines system, it is characterised in that：The microprocessor
For digital signal processor DSP IC30F4012.
Above-mentioned mixed photoelectric encoder alignment error offset determines system, it is characterised in that：The Hall current
Model CSM300B of sensor.
Above-mentioned mixed photoelectric encoder alignment error offset determines system, it is characterised in that：The three phase power
Model IR2130 of driver.
Present invention also offers a kind of method and step is simple, can realize that the mixed photoelectric encoder to servomotor is pacified
The automatic acquisition of holding position error compensation value, the mixed photoelectric encoder alignment error benefit that too many manpower and materials need not be expended
Repay value determination method, it is characterised in that the method is comprised the following steps：
The collection and process of DC bus current signal when step one, alignment error offset are zero：Microprocessor sets
The initial value of mixed photoelectric encoder alignment error offset DT is zero, the servomotor rotation of control three phase power driver drives
Turn；In servomotor rotary course, Hall current sensor is examined in real time to the DC bus current powered to servomotor
Survey and by the signal output for detecting to current signal conditioning circuit, current signal conditioning circuit is exported to Hall current sensor
Signal be amplified after conditioning and export and give A/D conversion circuit modules, the dc bus that A/D conversion circuit modules are received to it
Current signal is sampled and is converted to and export after data signal to microprocessor, and microprocessor receives A/D conversion circuit modules
Export to the digital value of its DC bus current signal, and ask for the mean value X in time T；
Step 2, alignment error offset be alignment error compensate minimum angles when DC bus current signal collection and
Process：Microprocessor is compensated most by alignment error of the corresponding electrical angle of the delta pulse that mixed photoelectric encoder can be recognized
Low-angle Δ, by alignment error offset adjustment direction F+1 is set as, and alignment error offset DT is increased into Δ from initial value
Afterwards, A/D conversion circuit modules are received to export to the digital value of its DC bus current signal, and is asked for average in time T
Value Y；
Step 3, point situation compare the size of X and Y, carry out the adjustment of mixed photoelectric encoder alignment error offset,
Detailed process is：
When F is+1, compare the size of X and Y；
As X≤Y, the value of Y is assigned to X by microprocessor, and alignment error offset DT is reduced after Δ, and it is -1 to update F values,
Receive A/D conversion circuit modules to export to the digital value of its DC bus current signal, and ask for the mean value in time T,
The result tried to achieve is assigned to into Y；
Work as X>During Y, the value of Y is assigned to X by microprocessor, and alignment error offset DT is increased after Δ, and it is+1 to update F values,
Receive A/D conversion circuit modules to export to the digital value of its DC bus current signal, and ask for the mean value in time T,
The result tried to achieve is assigned to into Y；
When F is -1, compare the size of X and Y；
As X≤Y, the value of X is assigned to Y by microprocessor, and alignment error offset DT is increased after Δ, and it is+1 to update F values,
Receive A/D conversion circuit modules to export to the digital value of its DC bus current signal, and ask for the mean value in time T,
The result tried to achieve is assigned to into Y；
Work as X>During Y, the value of X is assigned to Y by microprocessor, and alignment error offset DT is increased after Δ, and it is -1 to update F values,
Receive A/D conversion circuit modules to export to the digital value of its DC bus current signal, and ask for the mean value in time T,
The result tried to achieve is assigned to into Y；
Step 4, determine final mixed photoelectric encoder alignment error offset：Step 3 is repeated, until peace
When the swing state of n times continuously occurs between DT+ Δs and DT- Δs in the value of dress error compensation value DT, alignment error now is mended
Repay value DT and be defined as final mixed photoelectric encoder alignment error offset；Wherein, N be positive integer and value be 100～
350。
Above-mentioned method, it is characterised in that：The value of T described in step one, step 2 and step 3 is 20ms.
Above-mentioned method, it is characterised in that：The value of Δ described in step 2 is 0.176 °.
Above-mentioned method, it is characterised in that：The value of N described in step 4 is 200.
The present invention has compared with prior art advantages below：
1st, mixed photoelectric encoder alignment error offset of the present invention determines the simple structure of system, reasonable in design, real
Now facilitate and low cost.
2nd, mixed photoelectric encoder alignment error offset of the present invention determines that the use of system is easy to operate.
3rd, mixed photoelectric encoder alignment error offset of the invention determines that System and method for combines, can be automatic
The detection and offset for realizing mixed photoelectric encoder alignment error determines that easy to operate, strong adaptability is particularly suitable for mixed
The batch detection of box-like photoelectric encoder alignment error.
4th, the present invention can significantly simplify the enforcement of the mixed photoelectric encoder error in mounting position of adjustment servomotor
Step, reduces the difficulty of the mixed photoelectric encoder error in mounting position of adjustment servomotor, and realization is mixed to servomotor
The automatic acquisition of box-like photoelectric encoder error in mounting position offset, without the need for expending too many manpower and materials.
5th, the present invention's is practical, and using effect is good, is easy to promote the use of.
In sum, it is of the invention reasonable in design, convenient and low cost is realized, using easy to operate, strong adaptability, without the need for
Too many manpower and materials are expended, practical, using effect is good, is easy to promote the use of.
Below by drawings and Examples, technical scheme is described in further detail.
Description of the drawings
Fig. 1 is the schematic block circuit diagram that mixed photoelectric encoder alignment error offset of the present invention determines system.
Fig. 2 is the method flow block diagram that mixed photoelectric encoder alignment error offset of the present invention determines method.
Description of reference numerals:
1-microprocessor；2-A/D conversion circuit modules；3-three phase power driver；
4-current signal conditioning circuit；5-servomotor；6-Hall current sensor.
Specific embodiment
As shown in figure 1, the mixed photoelectric encoder alignment error offset of the present invention determines system, including microprocessor
1 and for carrying out the Hall current sensor 6 of real-time detection, micro- place to the DC bus current powered to servomotor 5
The input of reason device 1 is terminated with A/D conversion circuit modules 2, and the input of the A/D conversion circuit modules 2 is terminated with for Hall
The signal of the output of current sensor 6 is amplified the current signal conditioning circuit 4 of conditioning, the Hall current sensor 6 it is defeated
Go out end to be connected with the input of current signal conditioning circuit 4, the output of the microprocessor 1 is terminated with for driving equipped with mixing
The output of the three phase power driver 3 of the servomotor 5 of formula photoelectric encoder, the servomotor 5 and three phase power driver 3
End connection.
In the present embodiment, the microprocessor 1 is digital signal processor DSP IC30F4012.
In the present embodiment, model CSM300B of the Hall current sensor 6.
In the present embodiment, model IR2130 of the three phase power driver 3.
When being embodied as, the current signal conditioning circuit 4 is the amplifying circuit being made up of amplifier TL082.
In the present embodiment, model GK6105 of the servomotor 5, the model of the mixed photoelectric encoder
EF36K。
As shown in Fig. 2 the mixed photoelectric encoder alignment error offset of the present invention determines method, including following step
Suddenly：
The collection and process of DC bus current signal when step one, alignment error offset are zero：Microprocessor 1 sets
The initial value of mixed photoelectric encoder alignment error offset DT is zero, and control three phase power driver 3 drives servomotor 5
Rotation；In the rotary course of servomotor 5,6 pairs of DC bus currents to the power supply of servomotor 5 of Hall current sensor carry out reality
When detection and by the signal output for detecting to current signal conditioning circuit 4, current signal conditioning circuit 4 is sensed to Hall current
The signal of the output of device 6 is amplified after conditioning and exports to A/D conversion circuit modules 2, and A/D conversion circuit modules 2 are received to it
DC bus current signal sampled and be converted to and export after data signal to microprocessor 1, microprocessor 1 receives A/D
Conversion circuit module 2 is exported to the digital value of its DC bus current signal, and asks for the mean value X in time T；It is concrete real
Shi Shi, the microprocessor 1 produces the PWM drive signal that dutycycle is 20% by built-in PWM module, controls three phase power
Driver 3 is rotated with " state of three-phase six " mode activated servomotor 5, i.e., three phase power driver 3 is exported according to microprocessor 1
To its PWM drive signal, the corresponding winding of servomotor 5 is accessed into positive source or power supply ground, drive servomotor 5 to revolve
Turn；A/D conversion circuit modules 2 are sampled with the DC bus current signal that the sample frequency of 10KHz is received to it；
Step 2, alignment error offset be alignment error compensate minimum angles when DC bus current signal collection and
Process：Microprocessor 1 is compensated by alignment error of the corresponding electrical angle of the delta pulse that mixed photoelectric encoder can be recognized
Minimum angles Δ, by alignment error offset adjustment direction F+1 is set as, and alignment error offset DT is increased from initial value
After Δ, receive A/D conversion circuit modules 2 and export to the digital value of its DC bus current signal, and ask for flat in time T
Average Y；
Step 3, point situation compare the size of X and Y, carry out the adjustment of mixed photoelectric encoder alignment error offset,
Detailed process is：
When F is+1, compare the size of X and Y；
As X≤Y, the value of Y is assigned to X by microprocessor 1, and alignment error offset DT is reduced after Δ, update F values be-
1, receive A/D conversion circuit modules 2 and export to the digital value of its DC bus current signal, and ask for average in time T
Value, by the result tried to achieve Y is assigned to；
Work as X>During Y, the value of Y is assigned to X by microprocessor 1, and alignment error offset DT is increased after Δ, and it is+1 to update F values,
Receive A/D conversion circuit modules 2 to export to the digital value of its DC bus current signal, and ask for the mean value in time T,
The result tried to achieve is assigned to into Y；
When F is -1, compare the size of X and Y；
As X≤Y, the value of X is assigned to Y by microprocessor 1, and alignment error offset DT is increased after Δ, update F values be+
1, receive A/D conversion circuit modules 2 and export to the digital value of its DC bus current signal, and ask for average in time T
Value, by the result tried to achieve Y is assigned to；
Work as X>During Y, the value of X is assigned to Y by microprocessor 1, and alignment error offset DT is increased after Δ, and it is -1 to update F values,
Receive A/D conversion circuit modules 2 to export to the digital value of its DC bus current signal, and ask for the mean value in time T,
The result tried to achieve is assigned to into Y；
Step 4, determine final mixed photoelectric encoder alignment error offset：Step 3 is repeated, until peace
When the swing state of n times continuously occurs between DT+ Δs and DT- Δs in the value of dress error compensation value DT, alignment error now is mended
Repay value DT and be defined as final mixed photoelectric encoder alignment error offset；Wherein, N be positive integer and value be 100～
350。
In the present embodiment, the value of T described in step one, step 2 and step 3 is 20ms.
In the present embodiment, the value of Δ described in step 2 is 0.176 °.
In the present embodiment, the value of N described in step 4 is 200.
The above, is only presently preferred embodiments of the present invention, and not the present invention is imposed any restrictions, every according to the present invention
Any simple modification, change and equivalent structure change that technical spirit is made to above example, still fall within skill of the present invention
In the protection domain of art scheme.
Claims (8)
1. a kind of mixed photoelectric encoder alignment error offset determines system, it is characterised in that：Including microprocessor (1) and
For carrying out the Hall current sensor (6) of real-time detection, micro- place to the DC bus current to servomotor (5) power supply
The input of reason device (1) is terminated with A/D conversion circuit modules (2), the input of the A/D conversion circuit modules (2) be terminated with for
The current signal conditioning circuit (4) of conditioning is amplified to the signal of Hall current sensor (6) output, the Hall current is passed
The output end of sensor (6) is connected with the input of current signal conditioning circuit (4), and the output of the microprocessor (1) is terminated with
For driving the three phase power driver (3) of the servomotor (5) equipped with mixed photoelectric encoder, the servomotor (5)
It is connected with the output end of three phase power driver (3).
2. system is determined according to the mixed photoelectric encoder alignment error offset described in claim 1, it is characterised in that：Institute
Microprocessor (1) is stated for digital signal processor DSP IC30F4012.
3. system is determined according to the mixed photoelectric encoder alignment error offset described in claim 1, it is characterised in that：Institute
State model CSM300B of Hall current sensor (6).
4. system is determined according to the mixed photoelectric encoder alignment error offset described in claim 1, it is characterised in that：Institute
State model IR2130 of three phase power driver (3).
5. one kind carries out mixed photoelectric encoder alignment error offset determination side using the system as claimed in claim 1
Method, it is characterised in that the method is comprised the following steps：
The collection and process of DC bus current signal when step one, alignment error offset are zero：Microprocessor (1) setting is mixed
The initial value of box-like photoelectric encoder alignment error offset DT is zero, and control three phase power driver (3) drives servomotor
(5) rotate；In servomotor (5) rotary course, Hall current sensor (6) is to the dc bus of servomotor (5) power supply
Electric current carries out real-time detection and gives current signal conditioning circuit (4), current signal conditioning circuit (4) by the signal output for detecting
The signal that Hall current sensor (6) is exported is amplified to export after conditioning and gives A/D conversion circuit modules (2), A/D conversion electricity
The DC bus current signal that road module (2) is received to it is sampled and is converted to and export to microprocessor after data signal
(1), microprocessor (1) receives A/D conversion circuit modules (2) and exports to the digital value of its DC bus current signal, and asks
Take the mean value X in time T；
Step 2, alignment error offset are the collection of DC bus current signal and place when alignment error compensates minimum angles
Reason：Microprocessor (1) is compensated by alignment error of the corresponding electrical angle of the delta pulse that mixed photoelectric encoder can be recognized
Minimum angles Δ, by alignment error offset adjustment direction F+1 is set as, and alignment error offset DT is increased from initial value
After Δ, receive A/D conversion circuit modules (2) and export to the digital value of its DC bus current signal, and ask in time T
Mean value Y；
Step 3, point situation compare the size of X and Y, carry out the adjustment of mixed photoelectric encoder alignment error offset, specifically
Process is：
When F is+1, compare the size of X and Y；
As X≤Y, the value of Y is assigned to X by microprocessor (1), and alignment error offset DT is reduced after Δ, and it is -1 to update F values,
Receive A/D conversion circuit modules (2) to export to the digital value of its DC bus current signal, and ask for average in time T
Value, by the result tried to achieve Y is assigned to；
Work as X>During Y, the value of Y is assigned to X by microprocessor (1), and alignment error offset DT is increased after Δ, and it is+1 to update F values, is connect
Receive A/D conversion circuit modules (2) to export to the digital value of its DC bus current signal, and ask for the mean value in time T,
The result tried to achieve is assigned to into Y；
When F is -1, compare the size of X and Y；
As X≤Y, the value of X is assigned to Y by microprocessor (1), and alignment error offset DT is increased after Δ, and it is+1 to update F values,
Receive A/D conversion circuit modules (2) to export to the digital value of its DC bus current signal, and ask for average in time T
Value, by the result tried to achieve Y is assigned to；
Work as X>During Y, the value of X is assigned to Y by microprocessor (1), and alignment error offset DT is increased after Δ, and it is -1 to update F values, is connect
Receive A/D conversion circuit modules (2) to export to the digital value of its DC bus current signal, and ask for the mean value in time T,
The result tried to achieve is assigned to into Y；
Step 4, determine final mixed photoelectric encoder alignment error offset：Step 3 is repeated, until install missing
When the swing state of n times continuously occurs between DT+ Δs and DT- Δs in the value of difference offset DT, by alignment error offset now
DT is defined as final mixed photoelectric encoder alignment error offset；Wherein, N is positive integer and value is 100～350.
6. in accordance with the method for claim 5, it is characterised in that：The value of T is described in step one, step 2 and step 3
20ms。
7. in accordance with the method for claim 5, it is characterised in that：The value of Δ described in step 2 is 0.176 °.
8. in accordance with the method for claim 5, it is characterised in that：The value of N described in step 4 is 200.
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Application publication date: 20170510 |