CN107402540A - The low-power dissipation power supply control system and control method of a kind of pseudo noise code encoder - Google Patents
The low-power dissipation power supply control system and control method of a kind of pseudo noise code encoder Download PDFInfo
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- 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
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- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- G—PHYSICS
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Abstract
The invention discloses a kind of low-power dissipation power supply control system of pseudo noise code encoder and control method, including main power source, battery supply, power supply gating unit, power supply monitoring unit, monitoring control system and main system core processing unit, wherein monitoring control system includes monitoring control unit, signal processing unit and the first electronic switch；Described monitoring control unit, the encoder main axis motor message provided to the power supply supply condition signal and signal processing unit that are provided according to power supply monitoring unit, the power supply of the first electronic switch and signal processing unit is controlled, and monitoring control system is transferred to the alternation state of dormancy/work of low-power consumption when battery supply is powered and when encoder does not rotate.The low-power dissipation power supply control system of the present invention, solve power down can not record position change, while solve the problems, such as that standby power consumption is high.
Description
Technical field
The invention belongs to power supply technical field, and in particular to a kind of low-power dissipation power supply control of pseudo noise code encoder
System and control method.
Background technology
Absolute type encoder/grid chi, it is usually used in the anglec of rotation/straight-line displacement to instrument or equipment and measures and school
It is accurate.Traditional absolute type encoder/grid chi is all parallel encoding, and digit is higher, and code channel is more, corresponding code-disc/grid chi face
Product, detector quantity will be scaling up, and sensor construction size is also just necessarily bigger, strongly limit tight in space structure
Open the use under application scenario.Therefore, many new absolute transducers just arise at the historic moment, as matrix coder, M sequence coding,
Encoder of the coded systems such as pseudo noise code etc..Compared with traditional absolute encoding, new absolute type encoder can reduce code
Disk/grid chi size, area, detector quantity is reduced, still ensures high-precision high-speed while coder structure size is reduced
The requirement of degree, wherein pseudo- be widely used with code coder because it encodes succinct, good manufacturability, simple and stable structure.It is pseudo- with
The encoder of machine code coding form, using serial code mode, whole absolute coding is engraved on code-disc/grid chi just only one
Absolute code channel, the size of code-disc/grid chi is reduced to greatest extent.But also just because of being serial code, when power down is upper electric again
When, encoder can not may immediately obtain actual actual position information, it is necessary to which encoder, which turns an angle, could obtain reality
The physical location (anglec of rotation is different and different with coding digit) on border, therefore, pseudo noise code encoder and M code channel encoders one
Sample belongs to Virtual absolute encoder.The encoder of matrix coder form, its essence still fall within Traditional parallel coding category, are
A kind of limited improvement to Traditional parallel coding techniques, the reduction of its spatial volume is limited, in many limited space application scenarios still
It can not so use.In addition, matrix encoder reading is complicated, technology difficulty is big, causes encoder long-time stability to be not easy to protect
Card.Therefore above-mentioned new absolute type encoder, still with volume, upper electricity can not obtain actual physics position at once greatly or after power down
The shortcomings of confidence ceases.
The pseudo noise code encoder of serial code, is characterized in：N positions pseudo noise code coding a total of 2nIndividual state, wherein
Any n continuous state is all unique, and pseudo noise code encoder is exactly that pseudo noise code is engraved on into envelope using this uniqueness
Close on circumference (disk light beam encoder, circle magnetic grid encoder) or open straight line (grating scale, magnetic railings ruler) medium to enter locational space
Go what is quantified segmentation and measure.Therefore n positions pseudo noise code sensor only needs an absolute code channel to achieve that to physical location
Absolute division and metering, and traditional n positions absolute transducer then needs the absolute code channel of n bars.The advantages of pseudo noise code encoder
That absolute measurement and detection to physical displacement can be realized with small size space structure, at the same meet at high speed, high accuracy and
The requirement of high stability, it is used widely in high speed and super precision and the various kinetic control systems of limited space.
Pseudo noise code sensor can not detect and monitor the position that may occur under power-down state due to being serial code
Information is moved, when upper electricity operation again, the positional information that sensor provides is not necessarily real physical location information, it is necessary to have
One small displacement (displacement is relevant with sensor resolution), sensor can obtain real positional information.
But need electricity just to obtain real physical location information immediately in many application scenarios, do not allow first there is action to obtain again
The logic phenomenon of positional information, its application is set to receive a definite limitation.
Information is lost after optomagnetic encoder techniques can solve the problems, such as pseudo noise code encoder power down very well.Mode is such as
Under：
1st, when electric on encoder, according to the rotation of encoder live spindle, from the magnetic detector numeral of Magnetic Sensor output
Signal X1, retain its high N positions processing, so as to which the scope that live spindle rotates a circle is divided into 2NIndividual zoning Z.
2nd, from the optical detection part analog signal of optical sensor output, after analog to digital conversion circuit, A phases numeral is exported respectively
Signal and B phase data signals, in original position counting circuit, A phases data signal and B phases data signal are subjected to division fortune
Calculate, arctangent cp cp operation, light detection cycle △ position quantity signal Y where obtaining original position.
3rd, judge the magnetic detector data signal X1 of original position output whether more than in the light detection cycle △ where it
Magnetic detector zoning Z boundary value；It is when not less than boundary value, the magnetic detector data signal X1 of high N positions is direct
With the position quantity signal Y union operations of optical detection part, original position signal is obtained；When more than boundary value, the magnetic of high N positions is examined
Survey portion data signal X1 N positions " subtracting 1 " the position quantity signal union operation with optical detection part afterwards, obtains original position signal.
4th, on encoder after electricity, with reference to A phases data signal and B phase data signals be rotated again to certain angle after, shape
Into increment signal, with reference to original position signal, utilize conventional light increment type encryption algorithm, you can obtain rotation angle signal.
Because magnetic information is absolute location information, optomagnetic encoder can solve pseudo noise code encoder power down and not record position
The problem of moving information, but Magnetic Sensor must be placed on the pivot of encoder, therefore optomagnetic encoder techniques can not fit
For hollow shaft pseudorandomcode device.
For the process problem of displacement information during power down, in engineering one of feasible scheme be exactly using down Monitor Unit and
Management control system and backup power system.Backup power system is provided by upper main system, is generally all battery system, coding
The consumption of device full power operation state energy is bigger.
The content of the invention
It is an object of the present invention to for needing to rotate certain angle after pseudo noise code Virtual absolute encoder power down
The problem of actual physical angle position information can be obtained, while the problem of back-up source power consumption is big during power down, there is provided it is a kind of pseudo-
The low-power dissipation power supply control system and control method of random code coder, by adding monitoring control system, solving power down can not
Record position changes, and solves stand-by power supply work(in the prior art using dormancy/work alternation state in monitor state
Consume the problem of high.
To achieve these goals, the technical solution adopted by the present invention is：
A kind of low-power dissipation power supply control system of pseudo noise code encoder, including main power source, battery supply, power supply gating are single
Member, power supply monitoring unit, monitoring control system and main system core processing unit, wherein monitoring control system include monitoring and controlled
Unit, signal processing unit and the first electronic switch processed；
The input of described power supply gating unit connects described main power source and described battery supply, power supply choosing respectively
Logical unit is used to be limit priority by main power source and connects circuit with stable supply voltage, electricity to output end in a manner of selecting one
The first described electronic switch, power supply gating unit are connected between the output end and main system core processing unit of source gating unit
Output end be additionally coupled to monitor control unit and signal processing unit；
The input of described power supply monitoring unit connects described main power source and described battery supply, output end respectively
Monitoring control unit is connected to, to provide power supply supply condition signal to monitoring control unit；
Described signal processing unit is connected to monitoring control unit, and signal processing unit is to from encoder major loop
Extraction pseudo noise code signal forms encoder main axis motor message after processing and provided to monitoring control unit；
Described monitoring control unit, to the power supply supply condition signal and signal provided according to power supply monitoring unit
The encoder main axis motor message that processing unit provides, the power supply of the first electronic switch and signal processing unit is controlled,
And monitoring control system is transferred to the alternating of dormancy/work of low-power consumption when battery supply is powered and when encoder does not rotate
Working condition, while cut off the power supply of main system core processing unit.
Preferably, described signal processing unit includes the second electronic switch, signal extraction module and signal monitoring module,
The output end of described power supply gating unit is connected to the input of the second electronic switch, the output end difference of the second electronic switch
Signal extraction module and signal monitoring module are connected, described monitoring control unit is connected to the control terminal of the second electronic switch,
Described monitoring control unit to send the pulse scanning signal of controlling switch to the second electronic switch, use by signal extraction module
To extract pseudo noise code signal from encoder major loop and send pseudo noise code signal to signal monitoring module, signal monitoring
Module to by pseudo noise code signal be converted into encoder main axis motor message and provide to monitoring control unit.
It is further preferred that the output end of described signal extraction module and the output end of signal monitoring module are connected to
Main system core processing unit.
It is further preferred that described signal extraction module is provided with two-way extraction circuit, it is anti-to extract a pair respectively
To pseudo noise code signal, described signal monitoring module uses hysteresis loop comparator, to a pair of reverse pseudo noise code signals are whole
Shape is processed into impulse wave and provides pulse wave signal to monitoring control unit.
Preferably, described power supply gating unit includes voltage-regulator diode and linear power supply, and voltage-regulator diode is provided with two
It is individual, the output end of main power source and the output end of battery supply are connected on respectively, and negative pole end connects after two voltage-regulator diode parallel connections
The input of linear power supply is connected to, the output end of linear power supply connects the first described electronic switch, monitoring control unit respectively
And signal processing unit, described linear power supply have to by the voltage transformation that main power source or battery supply are brought into monitoring
Control system required voltage value.
The present invention also provides the control method of the low-power dissipation power supply control system of the pseudo noise code encoder, including：
Power supply is powered, and when main power source works, battery supply is not powered to monitoring control system, when main power source power down,
Battery supply is powered to monitoring control system；
Monitoring control, when it is currently the status signal of battery supply power supply that power supply monitoring unit, which sends expression, monitoring is controlled
Unit processed disconnects the first electronic switch, and the power supply of main system core processing unit is sent in cut-out, while monitoring control system enters
The alternation state of dormancy/work, in the alternation state of dormancy/work, control unit is monitored to signal transacting list
Member sends signal, extracts encoder main axis motor message, if monitoring, encoder main axis motor message changes,
Close or remain closed the first electronic switch, electricity or be kept powered on main system core processing unit；If monitor encoder master
Axle rotational motion signal is unchanged, then cuts off or be kept switched off the first electronic switch, and monitoring control system maintains dormancy/work
Alternation state；
When power supply monitoring unit, which is sent, represents currently status signal for main power source power supply, monitoring control unit is sent to the
One electronic switch and the normally opened signal of signal processing unit, the first electronic switch and signal processing unit is kept to be in power supply shape
State, monitoring control system are in work power supply state.
Preferably, the rotational motion signal of described encoder main shaft is reversely pseudo- to extract a pair from encoder major loop
Random code signal, pulse wave signal is converted into by using the signal monitoring module of hysteresis loop comparator, finally sent to monitoring control
Unit processed.
By adopting the above-described technical solution, the beneficial effects of the invention are as follows：
The present invention is by power down monitoring and the monitoring control system of rotating shaft displacement monitoring, in the normal work shape of non-power-failure
Detected under state main power source system whether power down, if power down seamless startup backup power system immediately, solving power down can not record
Change in location；In the case where monitoring power-down state, whether encoder main shaft has displacement simultaneously, if there is displacement, immediately by system from dormancy shape
State, which wakes up, enters normal operating conditions, and system is transferred into resting state again after displacement stops, standby battery during resting state
Power supply is in the alternation state of the bigger dormancy/work of duty, and monitoring control system is low in energy consumption, battery supply power consumption
It is small.
Brief description of the drawings
Fig. 1 is the schematic block circuit diagram of the low-power dissipation power supply control system of the present invention.
Fig. 2 is the low-power dissipation power supply control system working condition theory diagram of the present invention.
Fig. 3 is the working condition theory diagram of the power supply gating unit of the present invention.
Fig. 4 is the working condition theory diagram of the signal processing unit of the present invention.
Fig. 5 is the control method flow chart of the low-power dissipation power supply control system of the present invention.
Reference：101- main power sources, 102- battery supplies, 103- power supply monitoring units, 104- power supply gating units,
105- main system core processing units, 200- monitoring control systems, 210- signal processing units, the electronic switches of 211- second,
212- signal extraction modules, 213- signal monitoring modules, 201- monitoring control units, the electronic switches of 202- first.
Embodiment
Reference picture 1, the low-power dissipation power supply control system of pseudo noise code encoder of the invention, including main power source 101, battery
Power supply 102, power supply gating unit 104, power supply monitoring unit 103, monitoring control system 200 and main system core processing unit
105, wherein monitoring control system 200 includes monitoring control unit 201, the electronic switch 202 of signal processing unit 210 and first；
Described signal processing unit 210 includes the second electronic switch 211, signal extraction module 212 and signal monitoring module 213.
Reference picture 2, Fig. 3, the input of power supply gating unit 104 connect described main power source 101 and described electricity respectively
Pond power supply 102, the first described electricity is connected between the output end and main system core processing unit 105 of power supply gating unit 104
Sub switch 202, the power supply and power-off to main system core processing unit 105 are realized by the first electronic switch 202, the present invention
In, main system core processing unit 105 refers to the control circuit part required for encoder work, not doing in the present invention excessive
Repeat.The output end of power supply gating unit 104 is additionally coupled to monitor control unit 201 and signal processing unit 210, i.e. power supply
The output end of gating unit 104 connects the first electronic switch 202, the monitoring electronic switch 211 of control unit 201 and second respectively.
Power supply gating unit 104 specifically includes voltage-regulator diode and linear power supply, and voltage-regulator diode is provided with two, respectively
The output end of main power source 101 and the output end of battery supply 102 are connected on, negative pole end connects after two voltage-regulator diode parallel connections
To the input of linear power supply, the output end of linear power supply connects the first described electronic switch 202, monitoring control unit respectively
201 and second electronic switch 211, linear power supply is by the voltage transformation that main power source 101 or battery supply 102 are brought into monitoring
The required voltage value of control system 200.Usual battery supply 102 is less than more than the 30% of main power source 101, when on main power source 101
When electric, due to the characteristic of diode, battery supply 102 can not be that monitoring control system 200 is powered, when 101 power down of main power source,
The diode of battery supply 102 is more than backward voltage due to forward voltage, you can in time to electricity on monitoring control system 200.From
And power supply gating unit 104 is turned into one and is had with main power source 101 for limit priority, and can be in a manner of selecting one to prison
Control control system 200 and realize power supply.
The input of power supply monitoring unit 103 connects described main power source 101 and described battery supply 102 respectively, defeated
Go out end and be connected to monitoring control unit 201, to provide power supply supply condition signal, power supply monitoring to monitoring control unit 201
Unit 103 can use partial pressure sample mode to complete, and according to different power supply modes, export different signals.
Reference picture 2, Fig. 4, the output end of the second electronic switch 211 of signal processing unit 210 connect signal extraction respectively
Module 212 and signal monitoring module 213, described monitoring control unit 201 are connected to the control terminal of the second electronic switch 211,
Described monitoring control unit 201 to the second electronic switch 211 send controlling switch pulse scanning signal, signal extraction
Module 212 to the extraction pseudo noise code signal from encoder major loop and sends pseudo noise code signal to signal monitoring module
213, signal monitoring module 213 is being converted into encoder main axis motor message by pseudo noise code signal and provide to monitoring
Control unit 201.Specifically, signal extraction module 212 is provided with two-way extraction circuit, respectively to extract a pair reversely it is pseudo- with
Machine code signal, described signal monitoring module 213 use hysteresis loop comparator, to by a pair of reverse pseudo noise code signal shaping
Manage into impulse wave and provide pulse wave signal to monitoring control unit 201.
Signal monitoring module 213 and signal extraction module 212 are embedded in pseudo noise code sensor signal path, and altogether
With identical signalling channel, therefore due to setting monitoring control system 200 and extra increased space hardly increases pseudorandom
The spatial volume of code sensor, maintains this sensor small volume space characteristic.What signal extraction module 212 was extracted be it is pseudo- with
Machine code signal, while the pseudo noise code encoder for also solving optomagnetic form can not be applied to the occasion of a large amount of hollow shafts.
Reference picture 5, low-power dissipation power supply control system of the invention, when main power source 101 works, in power supply gating unit
In the presence of 104, battery supply 102 is not powered to monitoring control system 200, only when 101 power down of main power source, battery supply
102 pairs of monitoring control systems 200 are powered, and battery supply 102 can realize power supply at once, be seamlessly connected so as to reach.
When power supply monitoring unit 103 sends the status signal for representing currently to be powered for main power source 101, control unit is monitored
201 are sent to 211 normally opened signal of the first electronic switch 202 and the second electronic switch, keep the first electronic switch 202 and the second electricity
Sub switch 211 is in power supply state, and monitoring control system 200 is in work power supply state, and so-called work power supply state is
Full power supply state without dormancy, while main system core processing unit 105 is also at normal operating conditions.
When power supply monitoring unit 103 sends the status signal for representing currently to be powered for battery supply 102, main power source is represented
101 are disconnected, and encoder is stopped, and monitoring control unit 201 then disconnects the first electronic switch 202, and main system core is sent in cut-out
The power supply of heart processing unit 105, while monitoring control system 200 enters the alternation state of dormancy/work, dormancy/work
Alternation state be low-power consumption working condition, dutycycle is more than 100 in the present embodiment：1, i.e. dormancy 100, work 1.Not
During dormancy, the single-chip microcomputer for only monitoring control unit 201 maintains≤10 μ A electric currents, and remaining all system is in off-position；Work
During work, monitoring control unit 201 sends pulse scanning signal to the second electronic switch 211 so that the He of signal extraction module 212
Whether the periodically upper electricity of signal monitoring module 213, monitoring encoder have turn signal.Under this low power consumpting state, encoder is complete
System consumption electric current≤0.09mA.If monitoring, encoder main axis motor message changes, and closes or remain closed
One electronic switch 202, electricity or it is kept powered on main system core processing unit 105；If monitoring, encoder main axis moves
Signal is unchanged, then cuts off or be kept switched off the first electronic switch 202, and monitoring control system 200 maintains the alternating of dormancy/work
Working condition, other systems are in off-position.
Claims (7)
1. a kind of low-power dissipation power supply control system of pseudo noise code encoder, it is characterised in that including main power source (101), battery
Power supply (102), power supply gating unit (104), power supply monitoring unit (103), monitoring control system (200) and main system core
Processing unit (105), wherein monitoring control system (200) include monitoring control unit (201), signal processing unit (210) and
First electronic switch (202)；
The input of described power supply gating unit (104) connects described main power source (101) and described battery supply respectively
(102), power supply gating unit (104) is used to be limit priority by main power source (101) and connected in a manner of selecting one to output end
Circuit with stable supply voltage, connect between the output end and main system core processing unit (105) of power supply gating unit (104)
Described the first electronic switch (202) is connect, the output end of power supply gating unit (104) is additionally coupled to monitor control unit (201)
And signal processing unit (210)；
The input of described power supply monitoring unit (103) connects described main power source (101) and described battery supply respectively
(102), output end is connected to monitoring control unit (201), to provide power supply supply condition letter to monitoring control unit (201)
Number；
Described signal processing unit (210) is connected to monitoring control unit (201), and signal processing unit (210) is to from volume
Extraction pseudo noise code signal forms encoder main axis motor message after processing and provided to monitoring control in code device major loop
Unit (201)；
Described monitoring control unit (201), to the power supply supply condition signal that is provided according to power supply monitoring unit (103) with
And the encoder main axis motor message that signal processing unit (210) provides, the first electronic switch of control (202) and signal
The power supply of processing unit (210), and by monitoring control system when battery supply (102) is powered and when encoder does not rotate
(200) the alternation state of dormancy/work of low-power consumption is transferred to, while cuts off the confession of main system core processing unit (105)
Electricity.
2. low-power dissipation power supply control system according to claim 1, it is characterised in that described signal processing unit
(210) the second electronic switch (211), signal extraction module (212) and signal monitoring module (213), the choosing of described power supply are included
The output end of logical unit (104) is connected to the input of the second electronic switch (211), the output end of the second electronic switch (211)
Signal extraction module (212) and signal monitoring module (213) are connected respectively, and described monitoring control unit (201) is connected to the
The control terminal of two electronic switches (211), described monitoring control unit (201) are controlled to be sent to the second electronic switch (211)
Make the pulse scanning signal of switch, signal extraction module (212) from encoder major loop extracting pseudo noise code signal simultaneously
Pseudo noise code signal is sent to signal monitoring module (213), signal monitoring module (213) is pseudo noise code signal to be changed
Into encoder main axis motor message and provide to monitoring control unit (201).
3. low-power dissipation power supply control system according to claim 2, it is characterised in that described signal extraction module
(212) output end and the output end of signal monitoring module (213) is connected to main system core processing unit (105).
4. low-power dissipation power supply control system according to claim 2, it is characterised in that described signal extraction module
(212) two-way extraction circuit is provided with, respectively extracting a pair of reverse pseudo noise code signals, described signal monitoring module
(213) hysteresis loop comparator is used, a pair of reverse pseudo noise code signal shaping is processed into impulse wave and by pulse wave signal
There is provided to monitoring control unit (201).
5. low-power dissipation power supply control system according to claim 1, it is characterised in that described power supply gating unit
(104) voltage-regulator diode and linear power supply are included, voltage-regulator diode is provided with two, is connected on the defeated of main power source (101) respectively
Go out the output end of end and battery supply (102), negative pole end is connected to the input of linear power supply after two voltage-regulator diode parallel connections
End, the output end of linear power supply connect described the first electronic switch (202), monitoring control unit (201) and signal respectively
Processing unit (210), described linear power supply is to the voltage transformation of bringing main power source (101) or battery supply (102)
Into monitoring control system (200) required voltage value.
It is 6. a kind of such as the controlling party of the low-power dissipation power supply control system of any one pseudo noise code encoder in claim 1-5
Method, it is characterised in that including：
Power supply is powered, and when main power source (101) works, battery supply (102) is not powered to monitoring control system (200), works as master
During power supply (101) power down, battery supply (102) is powered to monitoring control system (200)；
Monitoring control, when it is currently the status signal of battery supply (102) power supply that power supply monitoring unit (103), which sends expression,
Monitoring control unit (201) and disconnect the first electronic switch (202), the power supply of main system core processing unit (105) is sent in cut-out,
Monitoring control system (200) enters the alternation state of dormancy/work simultaneously, in the alternation state of dormancy/work,
Monitor control unit (201) and send signal to signal processing unit (210), extract encoder main axis motor message, if prison
Measure encoder main axis motor message to change, then close or remain closed the first electronic switch (202), main system core
On processing unit (105) electricity or be kept powered on；If monitoring, encoder main axis motor message is unchanged, cut-out or holding
The first electronic switch (202) is cut off, monitoring control system (200) maintains the alternation state of dormancy/work；
When power supply monitoring unit (103) sends the status signal for representing currently to be powered for main power source (101), control unit is monitored
(201) the first electronic switch (202) and signal processing unit (210) normally opened signal are sent to, keeps the first electronic switch (202)
Power supply state is in signal processing unit (210), monitoring control system (200) is in work power supply state.
7. control method according to claim 6, it is characterised in that the rotational motion signal of described encoder main shaft is
A pair of reverse pseudo noise code signals are extracted from encoder major loop, by using the signal monitoring module of hysteresis loop comparator
(213) pulse wave signal is converted into, is finally sent to monitoring control unit (201).
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| CN108400628A (en) * | 2017-12-18 | 2018-08-14 | 欧普照明股份有限公司 | A kind of power-supplying circuit, dry cell power supply equipment and method for controlling power supply |
| CN108844558A (en) * | 2018-06-29 | 2018-11-20 | 上海共久电气有限公司 | A method of realizing that de-energized is remembered using individual pen absolute value encoder |
| CN109156062A (en) * | 2018-08-23 | 2019-01-04 | 刘远芳 | Circuit control system and series control device and its control method |
| CN114018296A (en) * | 2021-10-11 | 2022-02-08 | 珠海市大然机器人科技有限公司 | Servo motor control method |
| CN117411311A (en) * | 2023-12-14 | 2024-01-16 | 杭州辰控智能控制技术有限公司 | Encoder power supply circuit, encoder and number of turns calculation method |
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