CN106936387B - Correction module and method for sine and cosine measurement signals - Google Patents
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Abstract
The invention discloses a correction module and a method for sine and cosine measurement signals, which are characterized by comprising the following steps: the sine differential amplifier unit, the sine de-DC drift unit, the sine amplitude adjusting unit, the cosine differential amplifier unit, the cosine de-DC drift unit, the cosine amplitude adjusting unit and the orthogonalizing unit are a sine and cosine measuring signal correcting method without any software means. The invention can correct three main errors of direct current drift, unequal amplitude and non-orthogonalization in sine and cosine measurement signals in real time, thereby providing high-quality signals for subsequent subdivision, direction discrimination and counting, improving the measurement precision and lightening the subsequent software correction load.
Description
Technical Field
The invention is applied to measurement occasions based on orthogonal sine wave measurement signals, such as gratings, laser interferometers and the like, and particularly relates to a module and a method for correcting sine and cosine measurement signals.
Background
Grating sensors, laser interferometers and other measurement tools based on orthogonal sine wave signals are widely used in various measurement occasions, and the common signal processing flow in industry is as follows: photoelectric signal conversion, preamplification, differential amplification, direction discrimination and subdivision. Ideally, two paths of perfect orthogonal sine wave signals (shown by a dotted line in fig. 5, a lissajous figure of which is an ellipse with the center of the circle at the origin) with zero direct current drift, equal amplitude and 90-degree phase difference should be obtained after differential amplification, so as to provide precision guarantee for subsequent subdivision, direction discrimination and counting, however, due to the influence of various factors, a certain deviation (shown by a solid line in fig. 5) inevitably exists between an actual signal and an ideal signal, a great error is generated when the signal is directly counted and subdivided, and a serious control error is caused when the signal is used as feedback information in a control loop. Therefore, a special signal correction scheme is required to reduce the deviation, thereby improving the measurement accuracy.
At present, most documents and actual measurement adopt a software fitting method to correct three types of errors, namely direct current drift, unequal amplitude and non-orthogonalization, existing in sine and cosine measurement signals, theoretically, the three types of errors can be infinitely approximated to real sine wave signals by increasing a sampling rate, and a mathematical fitting method is adopted to solve the three types of errors and eliminate the errors, but the software correction method increases the complexity of signal acquisition software and the burden of a processor, and because the signal acquisition precision is limited by factors such as A/D conversion digits and the sampling rate, a certain deviation still exists between the signals for error correction and the real signals, and the real-time correction of the signals is difficult to realize.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a sine and cosine measurement signal correction module and a method thereof, so that three types of errors including direct current drift, amplitude inequality and non-orthogonalization in a sine wave measurement signal can be corrected in real time, high-quality signals are provided for subsequent subdivision, direction discrimination and counting, the measurement precision is improved, and the subsequent software correction load is reduced.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the invention relates to a correction module of sine and cosine measurement signals, which is characterized by comprising the following steps: the device comprises a sine differential amplifier unit, a sine direct current removing drift unit, a sine amplitude adjusting unit, a cosine differential amplifier unit, a cosine direct current removing drift unit, a cosine amplitude adjusting unit and an orthogonalizing unit;
the sine differential amplifier unit receives and processes two paths of sine signals sin + and sin-with the phase difference of 180 degrees to obtain a path of sine differential amplification signal sin0, and provides the path of sine differential amplification signal sin0 to the sine de-DC drift unit for processing to obtain a zero-DC drift sine signal sin 1; the sine amplitude adjusting unit adjusts the amplitude of the zero direct current drifting sine signal sin1 to obtain a corrected sine signal sin2, and the corrected sine signal sin2 is provided to the orthogonalizing unit;
the cosine differential amplifier unit receives and processes two paths of cosine signals cos + and cos-with the phase difference of 180 degrees to obtain a path of cosine differential amplification signal cos0, and provides the path of cosine differential amplification signal cos0 to the cosine-removing DC drift unit for processing to obtain a zero DC drift cosine signal cos 1; the cosine amplitude adjusting unit adjusts the amplitude of the zero direct current drifting cosine signal cos1 to obtain a corrected cosine signal cos2, and the corrected cosine signal cos2 is provided for the orthogonalizing unit;
the orthogonalization unit is used for orthogonalizing the corrected sine signal sin2 and the corrected cosine signal cos2 to obtain sine signal sin and cosine signal cos which are strictly orthogonal, have equal amplitude and have zero direct current drift.
The correction module for sine and cosine measurement signals of the present invention is also characterized in that the sine dc drift removal unit or the cosine dc drift removal unit comprises: a low-pass filter and an adder circuit;
the low-pass filter obtains a dc drift signal in the received sine differential amplification signal sin0 or the received cosine differential amplification signal cos0, and provides the dc drift signal to the adding circuit for removing the dc drift signal, so as to obtain a zero dc drift sine signal sin1 or a zero dc drift cosine signal cos 1.
The sine amplitude adjusting unit or the cosine amplitude adjusting unit includes: the circuit comprises a first absolute value circuit, a sample-hold circuit, a differential circuit, a second absolute value circuit, a window comparator and a division circuit;
the first absolute value circuit performs absolute value processing on the zero direct current drifting sine signal sin1 or the zero direct current drifting cosine signal cos1, and the obtained result is provided to the sample-and-hold circuit;
the differentiating circuit performs differentiation processing on the zero direct current drifting sine signal sin1 or the zero direct current drifting cosine signal cos1 to obtain a differential signal and provides the differential signal to the second absolute value circuit; the second absolute value circuit performs absolute value taking processing on the differential signal, an obtained result is provided for the window comparator to be processed, and a trigger signal is obtained and sent to the sampling hold circuit;
the sampling hold circuit acquires the real-time amplitude of the processing result of the first absolute value circuit according to the received trigger signal, so as to obtain continuously-changed amplitude information and provide the continuously-changed amplitude information to the division circuit;
the dividing circuit performs division calculation on the zero direct current drifting sine signal sin1 or the zero direct current drifting cosine signal cos1 and the amplitude information to obtain a corrected sine signal sin2 and a corrected cosine signal cos 2.
When the amplitude changes of the zero dc shifted sine signal sin1 or the zero dc shifted cosine signal cos1 are synchronous, the sine amplitude adjusting unit and the cosine amplitude adjusting unit may further perform amplitude adjustment on the zero dc shifted sine signal sin1 or the zero dc shifted cosine signal cos1 by using a resistance voltage division method, so as to obtain a corrected sine signal sin2 and a corrected cosine signal cos2 having equal amplitudes.
The invention relates to a method for correcting sine and cosine measurement signals, which is characterized by comprising the following steps:
step 1, performing differential amplification processing on two paths of sine signals sin + and sin-with a phase difference of 180 degrees to obtain a path of sine differential amplification signal sin 0; meanwhile, performing differential amplification processing on two cosine signals cos + and cos-with the phase difference of 180 degrees to obtain a cosine differential amplification signal cos 0;
step 3, performing constant amplitude adjustment on the zero direct current drift sine signal sin1 and the zero direct current drift cosine signal cos1 to obtain a corrected sine signal sin2 and a corrected cosine signal cos 2;
step 3.1, performing absolute value taking processing on the zero direct current drift sine signal sin1 and the zero direct current drift cosine signal cos1 respectively to obtain corresponding first absolute value results for amplitude acquisition;
step 3.2, respectively carrying out differential processing on the zero direct current drifting sine signal sin1 and the zero direct current drifting cosine signal cos1, then taking absolute values, obtaining corresponding second absolute value results, and then carrying out window comparison, so as to obtain corresponding amplitude acquisition trigger signals;
3.3, acquiring a trigger signal according to the corresponding amplitude, and respectively carrying out real-time amplitude acquisition on the corresponding first absolute value result so as to obtain corresponding continuously-changed amplitude information;
step 3.4, performing division calculation on the zero direct current drifting sine signal sin1 and the zero direct current drifting cosine signal cos1 and corresponding amplitude information respectively to obtain a corrected sine signal sin2 and a corrected cosine signal cos 2;
and 4, orthogonalizing the corrected sine signal sin2 and the corrected cosine signal cos2 to obtain sine signal sin and cosine signal cos which are strictly orthogonal, have equal amplitude and have zero direct current drift.
Compared with the prior art, the invention has the beneficial effects that:
1. compared with a common software correction method, the method is a sine and cosine measurement signal correction method without any software means, three types of errors of direct current drift, unequal amplitude and non-orthogonalization in two paths of sine and cosine measurement signals are corrected by adopting a pure hardware circuit means, the defects that a software fitting method needs a large amount of data operation and fitting are overcome, the complexity of subsequent signal acquisition software is greatly reduced, and a special interpolation chip can be directly used for carrying out high-multiple subdivision on the corrected signals to obtain square wave signals convenient for direction-identifying counting.
2. Compared with the existing hardware circuit correction scheme, the invention can correct three types of errors in real time, and is specifically embodied in that: the invention uses the low-pass filter to obtain the constantly changing DC drift in the signal in real time and eliminates the DC drift through the addition circuit, thereby overcoming the defect that the DC drift in the sine and cosine measuring signal can not be eliminated in real time in the prior method; the invention uses the zero crossing point of the differentiated signal of the original signal as the acquisition signal of the amplitude information in each period, can realize the real-time acquisition of the sine and cosine measurement signal amplitude information, divides the original signal and the acquired amplitude information, corrects the signal amplitude in real time, obtains the sine and cosine measurement signal with the amplitude always being one, and overcomes the defect that the real-time amplitude correction can not be carried out on the signal with the continuously changed amplitude in the prior art.
3. For two paths of sine and cosine measurement signals with non-orthogonalization errors (namely, the phase difference is not 90 degrees), the two paths of signals are respectively added or subtracted on the basis of adjusting the amplitudes of the two paths of signals to be equal, because the amplitudes are equal, two paths of signal vector diagrams are two adjacent sides of a diamond, the sum and difference of the two signals are two diagonals of the diamond, and the diagonals of the diamond are necessarily orthogonal (see figure 6 in principle), but the method is limited by being incapable of detecting and correcting the amplitudes of the signals in real time, so that the amplitudes of the two paths of signals cannot be guaranteed to be completely equal in the conventional application, and perfect orthogonal sine wave signals are difficult to obtain.
Drawings
FIG. 1 is a general schematic diagram of a correction module according to the present invention;
FIG. 2 is a schematic diagram of a DC-drift removal unit according to the present invention;
FIG. 3a is a schematic diagram of two signal amplitude normalization with asynchronous amplitude variation according to the present invention;
FIG. 3b is a schematic diagram of two signal amplitude adjustments for amplitude variation synchronization in accordance with the present invention;
FIG. 4 is a schematic diagram of a signal orthogonalization unit of the present invention;
FIG. 5 is a Lissajous diagram of an actual signal to be modified (solid line) and an ideal signal (dashed line);
FIG. 6 is a schematic diagram illustrating the orthogonalization of the present invention.
Detailed Description
In this embodiment, as shown in fig. 1, the sine and cosine measurement signal correction module includes: the device comprises a sine differential amplifier unit, a sine direct current removing drift unit, a sine amplitude adjusting unit, a cosine differential amplifier unit, a cosine direct current removing drift unit, a cosine amplitude adjusting unit and an orthogonalizing unit.
The sine differential amplifying unit receives and processes two paths of sine signals sin + and sin-with the phase difference of 180 degrees to obtain a path of sine differential amplifying signal sin0, and provides the path of sine differential amplifying signal sin0 to the sine de-DC drift unit for processing to obtain a zero-DC drift sine signal sin1, the sine amplitude adjusting unit adjusts the amplitude of the zero-DC drift sine signal sin1 to obtain a corrected sine signal sin2, and the corrected sine signal sin2 is provided to the orthogonalizing unit;
the cosine differential amplification unit receives and processes two paths of cosine signals cos + and cos-with the phase difference of 180 degrees to obtain a path of cosine differential amplification signal cos0, and provides the path of cosine differential amplification signal cos0 to the cosine-DC drift removal unit for processing to obtain a zero-DC drift cosine signal cos 1; the cosine amplitude adjusting unit adjusts the amplitude of the zero direct current drifting cosine signal cos1 to obtain a corrected cosine signal cos2, and the corrected cosine signal cos2 is provided for the orthogonalizing unit;
the orthogonalization unit orthogonalizes the corrected sine signal sin2 and the corrected cosine signal cos2 to obtain sine signal sin and cosine signal cos which are strictly orthogonal, have equal amplitude and have zero direct current drift.
In the existing hardware circuit correction scheme, most of the direct current drift in the signals is removed by adopting a direct current compensation method, and the direct current drift which changes constantly in the actual signals cannot be obtained and compensated in real time. As shown in fig. 2, the sine dc-drift removing unit or the cosine dc-drift removing unit includes: the low-pass filter acquires a direct current drift signal in a received sine differential amplification signal sin0 or a received cosine differential amplification signal cos0 in real time to obtain a signal with the polarity opposite to the direct current drift in the signal, and the signal is provided to the adding circuit to remove the direct current drift, so that a zero direct current drift sine signal sin1 or a zero direct current drift cosine signal cos1 is obtained. The cut-off frequency of the low-pass filter can be flexibly designed according to the frequency range of the measuring signal and comprehensively considering factors such as response time and the like.
The amplitude of the actual sine and cosine measurement signal is constantly changed, so that an amplitude adjusting unit circuit is required to acquire and correct signal amplitude information in real time, the characteristic that the zero crossing point of a signal after the original signal is differentiated just corresponds to the amplitude point of the original signal is considered, the zero crossing point of the differential signal is taken as an amplitude acquisition trigger signal, the amplitude of the signal is acquired at the moment of zero crossing of the differential signal, the acquisition result is kept at other time as an amplitude correction signal, the amplitude correction is realized by using a division circuit, and the real-time correction of the signal amplitude can be realized. The invention provides a method for realizing the above idea, after the signal to be corrected is differentiated and the absolute value is taken, a window comparator is used for generating a narrow pulse to trigger a sampling and holding circuit to collect the current signal, namely the signal amplitude, after the narrow pulse is passed, the sampling result is held, and a division circuit is used for carrying out division operation on the signal to be corrected and the amplitude information to realize amplitude normalization.
As shown in fig. 3a, the sine amplitude adjustment unit or the cosine amplitude adjustment unit includes: the circuit comprises a first absolute value circuit, a sample-hold circuit, a differential circuit, a second absolute value circuit, a window comparator and a division circuit;
the first absolute value circuit performs absolute value processing on the zero direct current drift sine signal sin1 or the zero direct current drift cosine signal cos1, and the obtained result is provided for the sampling and holding circuit;
the differentiating circuit performs differentiation processing on the zero direct current drifting sine signal sin1 or the zero direct current drifting cosine signal cos1 to obtain a differential signal and provides the differential signal to the second absolute value circuit; the second absolute value circuit carries out absolute value taking processing on the differential signal, the obtained result is provided for the window comparator to be processed, and the obtained trigger signal is sent to the sampling holding circuit;
the sampling holding circuit carries out real-time amplitude acquisition on the processing result of the first absolute value circuit according to the received trigger signal, so as to obtain continuously-changed amplitude information and provide the continuously-changed amplitude information to the division circuit;
the dividing circuit performs division calculation on the zero direct current drifting sine signal sin1 or the zero direct current drifting cosine signal cos1 and the amplitude information, so as to obtain a sine signal sin2 and a cosine signal cos2 which have the same corrected amplitude.
In addition, when the amplitude changes of the zero dc shifted sine signal sin1 or the zero dc shifted cosine signal cos1 are synchronous, the sine amplitude adjusting unit and the cosine amplitude adjusting unit may also perform amplitude adjustment on the zero dc shifted sine signal sin1 or the zero dc shifted cosine signal cos1 by using a resistance voltage division method (see fig. 3b), so as to obtain a sine signal sin2 and a cosine signal cos2 with equal amplitudes.
As shown in fig. 6, when the amplitudes are equal, the vector diagrams of the two sine and cosine measurement signals are two adjacent sides of the diamond, the sum and difference of the two signals are two diagonals of the diamond, and the diagonals of the diamond must be orthogonal, so that the two signals can be added or subtracted respectively on the basis of adjusting the amplitudes of the two signals to be equal, so as to correct the non-orthogonal error of the signals. On the basis that the sine amplitude adjusting unit and the cosine amplitude adjusting unit adjust the amplitudes of the two signals to be equal in real time, the sine signal sin2 and the cosine signal cos2 are added and subtracted respectively to obtain two new signals sin and cos which are strictly orthogonal (see fig. 4).
The two paths of new signals sin and cos obtained through the processing are strictly orthogonal, have equal amplitude and zero direct current drift, and the Lissajous figure is a perfect circle with the center of the circle at the origin and can be directly used for subsequent subdivision, counting and direction discrimination.
Claims (4)
1. A module for correcting sine and cosine measurement signals, comprising: the device comprises a sine differential amplifier unit, a sine direct current removing drift unit, a sine amplitude adjusting unit, a cosine differential amplifier unit, a cosine direct current removing drift unit, a cosine amplitude adjusting unit and an orthogonalizing unit;
the sine differential amplifier unit receives and processes two paths of sine signals sin + and sin-with the phase difference of 180 degrees to obtain a path of sine differential amplification signal sin0, and provides the path of sine differential amplification signal sin0 to the sine de-DC drift unit for processing to obtain a zero-DC drift sine signal sin 1; the sine amplitude adjusting unit adjusts the amplitude of the zero direct current drifting sine signal sin1 to obtain a corrected sine signal sin2, and the corrected sine signal sin2 is provided to the orthogonalizing unit;
the cosine differential amplifier unit receives and processes two paths of cosine signals cos + and cos-with the phase difference of 180 degrees to obtain a path of cosine differential amplification signal cos0, and provides the path of cosine differential amplification signal cos0 to the cosine-removing DC drift unit for processing to obtain a zero DC drift cosine signal cos 1; the cosine amplitude adjusting unit adjusts the amplitude of the zero direct current drifting cosine signal cos1 to obtain a corrected cosine signal cos2, and the corrected cosine signal cos2 is provided for the orthogonalizing unit;
the sine amplitude adjusting unit or the cosine amplitude adjusting unit includes: the circuit comprises a first absolute value circuit, a sample-hold circuit, a differential circuit, a second absolute value circuit, a window comparator and a division circuit;
the first absolute value circuit performs absolute value processing on the zero direct current drifting sine signal sin1 or the zero direct current drifting cosine signal cos1, and the obtained result is provided to the sample-and-hold circuit;
the differentiating circuit performs differentiation processing on the zero direct current drifting sine signal sin1 or the zero direct current drifting cosine signal cos1 to obtain a differential signal and provides the differential signal to the second absolute value circuit; the second absolute value circuit performs absolute value taking processing on the differential signal, an obtained result is provided for the window comparator to be processed, and a trigger signal is obtained and sent to the sampling hold circuit;
the sampling hold circuit acquires the real-time amplitude of the processing result of the first absolute value circuit according to the received trigger signal, so as to obtain continuously-changed amplitude information and provide the continuously-changed amplitude information to the division circuit;
the dividing circuit performs division calculation on the zero direct current drifting sine signal sin1 or the zero direct current drifting cosine signal cos1 and the amplitude information to obtain a corrected sine signal sin2 and a corrected cosine signal cos 2;
the orthogonalization unit is used for orthogonalizing the corrected sine signal sin2 and the corrected cosine signal cos2 to obtain sine signal sin and cosine signal cos which are strictly orthogonal, have equal amplitude and have zero direct current drift.
2. The module for correcting sine and cosine measurement signals as claimed in claim 1, wherein the sine dc drift removing unit or the cosine dc drift removing unit comprises: a low-pass filter and an adder circuit;
the low-pass filter obtains a dc drift signal in the received sine differential amplification signal sin0 or the received cosine differential amplification signal cos0, and provides the dc drift signal to the adding circuit for removing the dc drift signal, so as to obtain a zero dc drift sine signal sin1 or a zero dc drift cosine signal cos 1.
3. The module for modifying sine and cosine measurement signals as claimed in claim 1, wherein when the amplitude variation of the zero dc shifted sine signal sin1 or the zero dc shifted cosine signal cos1 is synchronous, the sine amplitude adjusting unit and the cosine amplitude adjusting unit further perform amplitude adjustment on the zero dc shifted sine signal sin1 or the zero dc shifted cosine signal cos1 by using a resistance voltage division method, so as to obtain the sine signal sin2 and the cosine signal cos2 with equal corrected amplitudes.
4. A method for correcting sine and cosine measurement signals is characterized by comprising the following steps:
step 1, performing differential amplification processing on two paths of sine signals sin + and sin-with a phase difference of 180 degrees to obtain a path of sine differential amplification signal sin 0; meanwhile, performing differential amplification processing on two cosine signals cos + and cos-with the phase difference of 180 degrees to obtain a cosine differential amplification signal cos 0;
step 2, acquiring a direct current drift signal in the one path of sine differential amplification signal sin0 or the one path of cosine differential amplification signal cos0 by using a low-pass filter, and removing the direct current drift signal in the one path of sine differential amplification signal sin0 or the one path of cosine differential amplification signal cos0 by using an adding circuit to obtain a zero direct current drift sine signal sin1 and a zero direct current drift cosine signal cos 1;
step 3, performing constant amplitude adjustment on the zero direct current drift sine signal sin1 and the zero direct current drift cosine signal cos1 to obtain a corrected sine signal sin2 and a corrected cosine signal cos 2;
step 3.1, performing absolute value taking processing on the zero direct current drift sine signal sin1 and the zero direct current drift cosine signal cos1 respectively to obtain corresponding first absolute value results for amplitude acquisition;
step 3.2, respectively carrying out differential processing on the zero direct current drifting sine signal sin1 and the zero direct current drifting cosine signal cos1, then taking absolute values, obtaining corresponding second absolute value results, and then carrying out window comparison, so as to obtain corresponding amplitude acquisition trigger signals;
3.3, acquiring a trigger signal according to the corresponding amplitude, and respectively carrying out real-time amplitude acquisition on the corresponding first absolute value result so as to obtain corresponding continuously-changed amplitude information;
step 3.4, performing division calculation on the zero direct current drifting sine signal sin1 and the zero direct current drifting cosine signal cos1 and corresponding amplitude information respectively to obtain a corrected sine signal sin2 and a corrected cosine signal cos 2;
and 4, orthogonalizing the corrected sine signal sin2 and the corrected cosine signal cos2 to obtain sine signal sin and cosine signal cos which are strictly orthogonal, have equal amplitude and have zero direct current drift.
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| CN101692601A (en) * | 2009-06-03 | 2010-04-07 | 北京中星微电子有限公司 | Automatic gain control device and audio control system comprising same |
| CN101709983A (en) * | 2009-10-30 | 2010-05-19 | 大连光洋科技工程有限公司 | On-line actual error compensation system of sine and cosine encoder |
| KR20110082828A (en) * | 2010-01-12 | 2011-07-20 | 삼성테크윈 주식회사 | Encoder signal processing device and method |
| CN102564462A (en) * | 2011-12-27 | 2012-07-11 | 华中科技大学 | Error compensation device for sin/cos encoder |
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