CN107402540B - A kind of the low-power dissipation power supply control system and control method of pseudo noise code encoder - Google Patents
A kind of the low-power dissipation power supply control system and control method 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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Abstract
The invention discloses a kind of low-power dissipation power supply control system of pseudo noise code encoder and control methods, 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；The monitoring control unit, the encoder main axis motor message provided to the power supply status 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 is transferred to suspend mode/work alternation state of low-power consumption in battery supply power supply and when encoder does not rotate by monitoring control system.Low-power dissipation power supply control system of the invention, solve power down can not record position variation, while solving the problems, such as that standby power consumption is high.
Description
Technical field
The invention belongs to power supply control technology fields, and in particular to a kind of low-power dissipation power supply control of pseudo noise code encoder
System and control method.
Background technique
Absolute type encoder/grid ruler is usually used in the angle of the rotation to instrument or equipment/straight-line displacement measures and school
It is quasi-.Traditional absolute type encoder/grid ruler is all parallel encoding, and digit is higher, and code channel is more, corresponding code-disc/grid ruler face
Product, detector quantity will be scaling up, and sensor structure size is also just necessarily bigger, strongly limits tight in space structure
Open the use under application.Therefore, many novel absolute transducers just come into being, as matrix coder, M sequence coding,
The encoder etc. of the coding modes such as pseudo noise code.Compared with traditional absolute encoding, novel absolute type encoder can reduce code
Disk/grid ruler size, area reduces detector quantity, still guarantees high-precision high-speed while reducing coder structure size
The requirement of degree, wherein it is pseudo- with code coder because its coding is succinct, good manufacturability, simple and stable structure due to be widely used.Puppet with
The encoder of machine code coding form, using serial code mode, entire absolute coding is engraved on code-disc/grid ruler just only one
Absolute code channel has maximally reduced code-disc/grid ruler size.However also just because of being serial code, when power down powers on again
When, encoder can not may obtain immediately practical actual position information, and needing encoder to turn an angle could obtain in fact
The physical location (rotation angle is different and different with number of encoding bits) on border, therefore, pseudo noise code encoder and M code channel encoder one
Sample belongs to Virtual absolute encoder.The encoder of matrix coder form, essence still fall within Traditional parallel coding scope, are
A kind of limited improvement to Traditional parallel coding techniques, spatial volume reduce it is limited, many limited space applications still
It is not available so.In addition, structure is complicated for matrix encoder reading, technology difficulty is big, and encoder long-time stability is caused to be not easy to protect
Card.Therefore above-mentioned novel absolute type encoder, actual physics position cannot be obtained at once by powering on after still having volume big or power down
The disadvantages of confidence ceases.
The pseudo noise code encoder of serial code, its main feature is that: n pseudo noise code codings a total of 2nA state, wherein
Any n continuous state is all that uniquely, pseudo noise code encoder is exactly that pseudo noise code is engraved on 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 locational space into
Row quantization segmentation and metering.Therefore n pseudo noise code sensors only need an absolute code channel to achieve that physical location
Absolute division and metering, and n absolute transducers of tradition then need the absolute code channel of n item.The advantages of pseudo noise code encoder
Be absolute measurement and detection to physical displacement can be realized with small size space structure, while meet at high speed, high-precision and
The requirement of high stability 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 location information that sensor provides is not necessarily true physical location information, needs
One small displacement (displacement is related with sensor resolution), sensor can obtain true location information.
But it needs to power in many applications just obtain true physical location information immediately, does not allow first to there is movement to obtain again
The logic phenomenon of location information makes its application receive certain restrictions.
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:
1, when encoder powers on, according to the rotation of encoder live spindle, the magnetic detector exported from Magnetic Sensor is digital
Signal X1 retains its high N processing, so that the range that live spindle is rotated a circle is divided into 2NA division region Z.
2, the optical detection part analog signal exported from optical sensor exports A phase number after analog to digital conversion circuit respectively
A phase digital signal and B phase digital signal are carried out division fortune in the counting circuit of initial position by signal and B phase digital signal
It calculates, arctangent cp cp operation, the position quantity signal Y of light detection period △ where obtaining initial position.
3, judge whether the magnetic detector digital signal X1 of initial position output is more than in light detection period △ where it
Magnetic detector divide region Z boundary value；It is when being less than boundary value, high N of magnetic detector digital signal X1 is direct
With the position quantity signal Y union operation of optical detection part, initial position signal is obtained；When being more than boundary value, high N of magnetic is examined
N " subtracting 1 " of survey portion digital signal X1 with the position quantity signal union operation of optical detection part, obtain initial position signal afterwards.
4, after encoder powers on, in conjunction with A phase digital signal and B phase digital signal be rotated again to certain angle after, shape
At increment signal, rotation angle signal can be found out using common light increment type encryption algorithm in conjunction with initial position signal.
Since 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 rotation center of encoder, therefore optomagnetic encoder techniques cannot fit
For hollow shaft pseudorandomcode device.
For the processing 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 usually all battery system, coding
The consumption of device full power operation state energy is bigger.
Summary of the invention
It is an object of the present invention to for needing to rotate certain angle after the power down of pseudo noise code Virtual absolute encoder
The problem of actual physical angle position information can be obtained, while the big problem of backup power supply power consumption during power down, provide a kind of puppet
The low-power dissipation power supply control system and control method of random code coder, by the way that monitoring control system is added, solving power down can not
Record position variation works alternatively state using suspend mode/work in monitor state and solves backup power source function in the prior art
Consume high problem.
To achieve the goals above, the technical solution adopted by the present invention are as follows:
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 includes monitoring control
Unit, signal processing unit and the first electronic switch processed；
The input terminal of the power supply gating unit is separately connected the main power source and the battery supply, power supply choosing
Logical unit is used to connect circuit with stable supply voltage, electricity using main power source as highest priority and to output end in a manner of selecting one
First 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 monitoring control unit and signal processing unit；
The input terminal of the power supply monitoring unit is separately connected the main power source and the battery supply, output end
It is connected to monitoring control unit, to provide power supply status signal to monitoring control unit；
The 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 is provided to monitoring control unit；
The monitoring control unit, to the power supply status signal and signal provided according to power supply monitoring unit
The encoder main axis motor message that processing unit provides controls the power supply of the first electronic switch and signal processing unit,
And suspend mode/work alternating of low-power consumption is transferred in battery supply power supply and when encoder does not rotate by monitoring control system
Working condition, while cutting off the power supply of main system core processing unit.
Preferably, the signal processing unit includes the second electronic switch, signal extraction module and signal monitoring module,
The output end of the power supply gating unit is connected to the input terminal of the second electronic switch, the output end difference of the second electronic switch
Connection signal extraction module and signal monitoring module, the monitoring control unit are connected to the control terminal of the second electronic switch,
Pulse scanning signal of the monitoring control unit to send control switch to the second electronic switch, signal extraction module are used
To extract pseudo noise code signal from encoder major loop and pseudo noise code signal be sent to signal monitoring module, signal monitoring
Module is to be converted into encoder main axis motor message for pseudo noise code signal and be provided to monitoring control unit.
It is further preferred that the output end of the signal extraction module and the output end of signal monitoring module are connected to
Main system core processing unit.
It is further preferred that the signal extraction module, which is provided with two-way, extracts circuit, it is a pair of anti-to extract respectively
To pseudo noise code signal, the signal monitoring module uses hysteresis loop comparator, to a pair of reversed pseudo noise code signal is whole
Shape is processed into impulse wave and pulse wave signal is provided to monitoring control unit.
Preferably, the power supply gating unit includes zener diode and linear power supply, and zener diode is provided with two
It is a, it is connected on the output end of main power source and the output end of battery supply respectively, negative pole end connects after two zener diodes are in parallel
It is connected to the input terminal of linear power supply, the output end of linear power supply is separately connected first electronic switch, monitoring control unit
And signal processing unit, the linear power supply have the voltage transformation to bring main power source or battery supply at monitoring
Control system required voltage value.
The present invention also provides the control methods of the low-power dissipation power supply control system of the pseudo noise code encoder, comprising:
Power supply power supply, when main power source work, battery supply does not power to monitoring control system, when main power source power down,
Battery supply powers to monitoring control system；
Monitoring control, when it is the status signal of battery supply power supply that power supply monitoring unit, which sends expression currently, monitoring is controlled
Unit processed disconnects the first electronic switch, and the power supply of main system core processing unit is sent in cutting, while monitoring control system enters
Suspend mode/work alternation state monitors control unit to signal processing list in suspend mode/work alternation state
Member sends signal, extracts encoder main axis motor message, if monitoring, encoder main axis motor message is changed,
It is closed or remains closed the first electronic switch, main system core processing unit is powered on or is kept powered on；If monitoring encoder master
Axis rotational motion signal is unchanged, then cuts off or keep the first electronic switch of cutting, and monitoring control system maintains suspend mode/work
Alternation state；
When power supply monitoring unit send indicate currently be the status signal of main power supply power supply when, monitoring control unit is sent to the
One electronic switch and the normally opened signal of signal processing unit keep the first electronic switch and signal processing unit to be in power supply shape
State, monitoring control system are in work power supply state.
Preferably, the rotational motion signal of the encoder main shaft is that a pair of reversed puppet is extracted from encoder major loop
Random code signal is converted into pulse wave signal by using the signal monitoring module of hysteresis loop comparator, is finally sent to monitoring control
Unit processed.
By adopting the above-described technical solution, the beneficial effects of the present invention are:
The present invention is by power down monitoring and the monitoring control system of 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 starting backup power system immediately, solving power down can not be recorded
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 suspend mode shape
State, which wakes up, enters normal operating conditions, and system is transferred to dormant state again after being displaced and stopping, when dormant state spare battery
Power supply is in the alternation state of the biggish suspend mode/work of duty ratio, and monitoring control system is low in energy consumption, battery supply power consumption
It is small.
Detailed description of the invention
Fig. 1 is the schematic block circuit diagram of low-power dissipation power supply control system of the invention.
Fig. 2 is low-power dissipation power supply control system working condition functional block diagram of the invention.
Fig. 3 is the working condition functional block diagram of power supply gating unit of the invention.
Fig. 4 is the working condition functional block diagram of signal processing unit of the invention.
Fig. 5 is the control method flow chart of low-power dissipation power supply control system of the invention.
Appended drawing reference: 101- main power source, 102- battery supply, 103- power supply monitoring unit, 104- power supply gating unit,
105- main system core processing unit, 200- monitoring control system, 210- signal processing unit, the second electronic switch of 211-,
212- signal extraction module, 213- signal monitoring module, 201- monitor control unit, the first electronic switch of 202-.
Specific embodiment
Referring to Fig.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, signal processing unit 210 and the first electronic switch 202；
The signal processing unit 210 includes the second electronic switch 211, signal extraction module 212 and signal monitoring module 213.
Referring to Fig. 2, Fig. 3, the input terminal of power supply gating unit 104 is separately connected the main power source 101 and the electricity
Pond power supply 102 connects first electricity between the output end and main system core processing unit 105 of power supply gating unit 104
Sub switch 202 realizes the power supply and power-off to main system core processing unit 105, the present invention by the first electronic switch 202
In, main system core processing unit 105 refers to control circuit part required for encoder work, not doing in the present invention excessive
It repeats.The output end of power supply gating unit 104 is additionally coupled to monitoring control unit 201 and signal processing unit 210, i.e. power supply
The output end of gating unit 104 is separately connected the first electronic switch 202, monitoring control unit 201 and the second electronic switch 211.
Power supply gating unit 104 specifically includes zener diode and linear power supply, and there are two zener diode settings, respectively
It is connected on the output end of main power source 101 and the output end of battery supply 102, negative pole end connects after two zener diodes are in parallel
To the input terminal of linear power supply, the output end of linear power supply is separately connected first electronic switch 202, monitoring control unit
201 and second electronic switch 211, the voltage transformation that linear power supply brings main power source 101 or battery supply 102 is at monitoring
200 required voltage value of control system.Usual battery supply 102 is less than 30% or more of main power source 101, when on main power source 101
When electric, due to the characteristic of diode, battery supply 102 can not power for monitoring control system 200, when 101 power down of main power source,
The diode of battery supply 102 can be powered on to monitoring control system 200 in time since forward voltage is greater than backward voltage.From
And making power supply gating unit 104 become one has with main power source 101 for highest priority, and can be in a manner of selecting one to prison
It controls control system 200 and realizes power supply.
The input terminal of power supply monitoring unit 103 is separately connected the main power source 101 and the battery supply 102, defeated
Outlet is connected to monitoring control unit 201, to provide power supply status signal, power supply monitoring to monitoring control unit 201
Unit 103 can be used partial pressure sample mode and complete, and according to different power supply modes, export different signals.
Referring to Fig. 2, the output end of Fig. 4, the second electronic switch 211 of signal processing unit 210 are separately connected signal extraction
Module 212 and signal monitoring module 213, the monitoring control unit 201 are connected to the control terminal of the second electronic switch 211,
Pulse scanning signal of the monitoring control unit 201 to send control switch to the second electronic switch 211, signal extraction
Module 212 from encoder major loop to extract pseudo noise code signal and pseudo noise code signal be sent to signal monitoring module
213, signal monitoring module 213 is to be converted into encoder main axis motor message for pseudo noise code signal and be provided to monitoring
Control unit 201.Specifically, signal extraction module 212 is provided with two-way and extracts circuit, respectively to extract it is a pair of reversed pseudo- with
Machine code signal, the signal monitoring module 213 use hysteresis loop comparator, to will be at a pair of reversed pseudo noise code signal shaping
It manages into impulse wave and pulse wave signal is provided to monitoring control unit 201.
Signal monitoring module 213 and signal extraction module 212 are to be embedded in pseudo noise code sensor signal path, and be total to
With identical signal path, therefore due to setting monitoring control system 200, additional 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.
Referring to Fig. 5, low-power dissipation power supply control system of the invention, when main power source 101 works, in power supply gating unit
Under the action of 104, battery supply 102 does not power 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, to reach seamless connection.
When power supply monitoring unit 103 sends the status signal for indicating currently to power for main power source 101, control unit is monitored
201 are sent to the first electronic switch 202 and the normally opened signal of the second electronic switch 211, 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 suspend mode, while main system core processing unit 105 is also at normal operating conditions.
When power supply monitoring unit 103 sends the status signal for indicating currently to power for battery supply 102, main power source is indicated
101 disconnect, and encoder stops working, and monitoring control unit 201 then disconnects the first electronic switch 202, and main system core is sent in cutting
The power supply of heart processing unit 105, while monitoring control system 200 enters suspend mode/work alternation state, suspend mode/work
Alternation state be low-power consumption working condition, in the present embodiment duty ratio be greater than 100:1, i.e. suspend mode 100, work 1.Not
During dormancy, the single-chip microcontroller for only monitoring control unit 201 maintains≤10 μ A electric currents, 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 212 He of signal extraction module
Signal monitoring module 213 periodically powers on, and whether monitoring encoder has turn signal.Under this low power consumpting state, encoder is complete
System consumption electric current≤0.09mA.If monitoring, encoder main axis motor message is changed, and is closed or remains closed
One electronic switch 202, main system core processing unit 105 are powered on or are kept powered on；If monitoring, encoder main axis is moved
Signal is unchanged, then cuts off or keep the first electronic switch 202 of cutting, and monitoring control system 200 maintains suspend mode/work alternating
Working condition, other systems are in off-position.
Claims (5)
1. a kind of low-power dissipation power supply control system of pseudo noise code encoder, which is characterized 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 terminal of the power supply gating unit (104) is separately connected the main power source (101) and the battery supply
(102), power supply gating unit (104) is used to be highest priority by main power source (101) and be connected in a manner of selecting one to output end
Circuit with stable supply voltage connects between the output end and main system core processing unit (105) of power supply gating unit (104)
First electronic switch (202) is connect, the output end of power supply gating unit (104) is additionally coupled to monitoring control unit (201)
And signal processing unit (210)；
The input terminal of the power supply monitoring unit (103) is separately connected the main power source (101) and the battery supply
(102), output end is connected to monitoring control unit (201), to provide power supply state letter to monitoring control unit (201)
Number；
The 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 is provided to monitoring control in code device major loop
Unit (201)；
The monitoring control unit (201), to the power supply status 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, control the first electronic switch (202) and signal
The power supply of processing unit (210), and by monitoring control system when battery supply (102) power and when encoder does not rotate
(200) it is transferred to suspend mode/work alternation state of low-power consumption, while cutting off the confession of main system core processing unit (105)
Electricity；
The signal processing unit (210) includes the second electronic switch (211), signal extraction module (212) and signal monitoring
Module (213), the output end of the power supply gating unit (104) are connected to the input terminal of the second electronic switch (211), and second
The output end of electronic switch (211) is separately connected signal extraction module (212) and signal monitoring module (213), the monitoring
Control unit (201) is connected to the control terminal of the second electronic switch (211), and the monitoring control unit (201) is to
Two electronic switches (211) send the pulse scanning signal of control switch, and signal extraction module (212) is to from encoder major loop
Pseudo noise code signal is simultaneously sent to signal monitoring module (213) by middle extraction pseudo noise code signal, and signal monitoring module (213) is used
Pseudo noise code signal is converted into encoder main axis motor message and is provided to monitoring control unit (201)；
The power supply gating unit (104) includes zener diode and linear power supply, and there are two zener diode settings, respectively
It is connected on the output end of main power source (101) and the output end of battery supply (102), negative pole end after two zener diodes are in parallel
It is connected to the input terminal of linear power supply, the output end of linear power supply is separately connected first electronic switch (202), monitoring control
Unit (201) processed and signal processing unit (210), the linear power supply is to by main power source (101) or battery supply
(102) voltage transformation brought is at monitoring control system (200) required voltage value.
2. low-power dissipation power supply control system according to claim 1, which is characterized in that the signal extraction module
(212) output end of output end and signal monitoring module (213) is connected to main system core processing unit (105).
3. low-power dissipation power supply control system according to claim 1, which is characterized in that the signal extraction module
(212) it is provided with two-way and extracts circuit, respectively to extract a pair of reversed pseudo noise code signal, the signal monitoring module
(213) hysteresis loop comparator is used, a pair of reversed pseudo noise code signal shaping is processed into impulse wave and by pulse wave signal
It is provided to monitoring control unit (201).
4. a kind of controlling party of any one of such as claim 1-3 low-power dissipation power supply control system of pseudo noise code encoder
Method characterized by comprising
Power supply power supply, when main power source (101) work, battery supply (102) does not power to monitoring control system (200), works as master
When power supply (101) power down, battery supply (102) powers to monitoring control system (200)；
Monitoring control, when it is the status signal of battery supply (102) power supply that power supply monitoring unit (103), which sends expression currently,
It monitoring control unit (201) and disconnects the first electronic switch (202), the power supply of main system core processing unit (105) is sent in cutting,
Monitoring control system (200) enters suspend mode/work alternation state simultaneously, in suspend mode/work alternation state,
It monitors control unit (201) and sends signal to signal processing unit (210), extract encoder main axis motor message, if prison
It measures encoder main axis motor message to change, is then closed or remains closed the first electronic switch (202), main system core
Processing unit (105) is powered on or is kept powered on；If monitoring, encoder main axis motor message is unchanged, cutting or holding
It cuts off the first electronic switch (202), monitoring control system (200) maintains suspend mode/work alternation state；
When power supply monitoring unit (103) sends the status signal for indicating currently to power for main power source (101), control unit is monitored
(201) it is sent to the first electronic switch (202) and signal processing unit (210) normally opened signal, is kept the first electronic switch (202)
It is in power supply state with signal processing unit (210), monitoring control system (200) is in work power supply state.
5. control method according to claim 4, which is characterized in that the rotational motion signal of the encoder main shaft is
A pair of reversed pseudo noise code signal is extracted from encoder major loop, by using the signal monitoring module of hysteresis loop comparator
(213) it is converted into pulse wave signal, 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 |
| CN108844558B (en) * | 2018-06-29 | 2020-05-26 | 上海共久电气有限公司 | Method for realizing power-off position memory by using single-turn absolute value encoder |
| CN113316294B (en) * | 2018-08-23 | 2023-10-10 | 刘远芳 | Circuit control system, series control device and control method thereof |
| 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 |
| CN117411311B (en) * | 2023-12-14 | 2024-05-03 | 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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| CN103940457A (en) * | 2014-05-12 | 2014-07-23 | 长春禹衡光学有限公司 | Method for realizing counting turns of electronic type multi-turn encoder with low power consumption |
| CN207249437U (en) * | 2017-09-26 | 2018-04-17 | 成都信息工程大学 | A kind of low-power dissipation power supply control system of pseudo noise code encoder |
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