CN108120454A - A kind of angle detecting method of incremental encoder - Google Patents
A kind of angle detecting method of incremental encoder Download PDFInfo
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- CN108120454A CN108120454A CN201611062918.4A CN201611062918A CN108120454A CN 108120454 A CN108120454 A CN 108120454A CN 201611062918 A CN201611062918 A CN 201611062918A CN 108120454 A CN108120454 A CN 108120454A
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- saltus step
- electrical angle
- incremental encoder
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
- G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
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Abstract
The invention discloses a kind of angle detecting methods of incremental encoder.The angle detecting method of the incremental encoder of the present invention comprises the following steps：Obtain the estimated value of each region Hall mechanical angle；The Hall saltus step situation triggered during according to motor operation calculates electrical angle；Export electric angle angle value.The angle detecting method of incremental encoder provided by the invention can accurately measure rotor electrical angle so that magnetic field is optimal the control of rotor, and reliable guarantee is provided for system high efficiency stability contorting.
Description
Technical field
The present invention relates to Motor Control Field, more particularly to a kind of angle detecting method of incremental encoder.
Background technology
In fields such as robot control field, numerically-controlled machine tool, production automations, motor control is particularly significant.To make motor
Steady efficient operation is, it is necessary to which motor-field plays maximum effect.In order to enable motor even running, system needs to know electricity
Machine rotor electrical angle, this electrical angle are rotor current location and the difference of 0 ° of electrical angle.It is compiled for the increment of no Z signals
Code device, system can only calculate electrical angle increment of the motor with respect to its start time, and for incremental encoder, motor powers on every time
Initial position it is all different, system can not learn that motor powers on moment and the difference of 0 ° of electrical angle.It is compiled for the increment of no Z signals
Code device, since its powered on moment can not know rotor-position, so needing to measure its electrical angle.Current detection method
It is using the initial position of Hall sensor estimation rotor, rotor electrical angle can only be estimated to a scope by the method, it is impossible to
Accurately, control accuracy is damaged.
The content of the invention
The purpose of the present invention is intended at least solve one of above-mentioned technological deficiency.
For this purpose, it is an object of the invention to propose a kind of angle detecting method of incremental encoder.
The angle detecting method of the incremental encoder comprises the following steps：Obtain estimating for each region Hall mechanical angle
Calculation value；The Hall saltus step situation triggered during according to motor operation calculates electrical angle；Export electric angle angle value.
In some embodiments, the estimated value for obtaining each region Hall mechanical angle includes：Force motor rotation one
In week, record passes through the numerical value of each Hall sensor jumping moment mechanical angle, according to each region Liang Ge edges mechanical angle
The estimated value of each region Hall mechanical angle is calculated, and is recorded as table.
In some embodiments, it is described according to motor operation when the Hall saltus step situation that triggers calculate electrical angle and include：Judge
Whether first time Hall saltus step is detected；If first time Hall saltus step is not detected, according to the estimated value of Hall mechanical angle
Calculate electrical angle.
In some embodiments, it is described according to motor operation when the Hall saltus step situation that triggers calculate electrical angle and further wrap
It includes：If detecting the first time Hall saltus step, further determine whether to detect second of Hall saltus step.
In some embodiments, it is described according to motor operation when the Hall saltus step situation that triggers calculate electrical angle and further wrap
It includes：If second of Hall saltus step is not detected, records triggering Hall jumping moment for the first time and correspond to code-disc value, and read first
Secondary triggering Hall jumping moment corresponds to mechanical angle, and calculates electrical angle.
In some embodiments, it is described according to motor operation when the Hall saltus step situation that triggers calculate electrical angle and further wrap
It includes：If detecting second of Hall saltus step, since beginning to pass through trigger Hall jump position for the first time for the second time, pass through every time
Jump position, encoder values reset, count again, and calculate electrical angle.
In some embodiments, if described be not detected first time Hall saltus step, according to the estimated value of Hall mechanical angle
The calculating for calculating rotor electrical angle described in electrical angle is obtained by the following formula：Rotor electrical angle=motor current location corresponds to
The initial mechanical angle * numbers of pole-pairs in Hall section
In some embodiments, the calculating of the rotor electrical angle is obtained by the following formula：
In some embodiments, the calculating of the rotor electrical angle is obtained by the following formula：
The angle detecting method of the incremental encoder proposed according to the present invention, by providing more accurate rotor electrical angle,
The accuracy of motor control is improved, ensures that motor runs well.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partly become from the following description
It obtains substantially or is recognized by the practice of the present invention.
Description of the drawings
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Substantially and it is readily appreciated that, wherein：
Fig. 1 is the flow chart according to the angle detecting method of the incremental encoder of one embodiment of the invention；
Fig. 2 is the flow chart according to the angle detecting method of the incremental encoder of another embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or has the function of same or like element.Below with reference to attached
The embodiment of figure description is exemplary, and is only used for explaining the present invention, and is not construed as limiting the claims.
Following disclosure provides many different embodiments or example is used for realizing the different structure of the present invention.For letter
Change disclosure of the invention, hereinafter the component and setting of specific examples are described.Certainly, they are merely examples, and
It is not intended to limit the present invention.In addition, the present invention can in different examples repeat reference numerals and/or letter.It is this heavy
It is the relation between itself not indicating discussed various embodiments and/or setting for purposes of simplicity and clarity again.This
Outside, the present invention provides various specific techniques and material example, but those of ordinary skill in the art may realize that
The applicable property of other techniques and/or the use of other materials.In addition, fisrt feature described below second feature it
" on " structure can be formed as the embodiment contacted directly including the first and second features, other feature shape can also be included
Into the embodiment between the first and second features, such first and second feature may not be to contact directly.
In the description of the present invention, it is necessary to explanation, unless otherwise prescribed and limit, term " installation ", " connected ",
" connection " should be interpreted broadly, for example, it may be the connection inside mechanical connection or electrical connection or two elements, it can
To be to be connected directly, can also be indirectly connected by intermediary, it for the ordinary skill in the art, can basis
Concrete condition understands the concrete meaning of above-mentioned term.
With reference to following description and attached drawing, it will be clear that these and other aspects of the embodiment of the present invention.In these descriptions
In attached drawing, some particular implementations in the embodiment of the present invention are specifically disclosed, to represent to implement the implementation of the present invention
Some modes of the principle of example, but it is to be understood that the scope of embodiments of the invention is not limited.On the contrary, the present invention
Embodiment includes falling into all changes, modification and the equivalent in the range of the spirit and intension of attached claims.
Incremental encoder is that displacement is converted into periodic electric signal, then this electric signal is transformed into counting pulse,
The size of displacement is represented with the number of pulse.
When incremental encoder shaft rotates, there is corresponding pulse to export, the differentiation of direction of rotation and the increasing of number of pulses
Subtract direction judgment circuit and counter by rear portion to realize.It counts starting point arbitrarily setting, it can be achieved that multi-turn infinitely adds up and surveys
Amount.General encoder output is in addition to A, B two-phase (the signal sequence phase difference of two passage of A, B is 90 degree), and every revolution is also
Export a zero pulse Z.Every revolution can also be sent the Z signals of a pulse, as with reference to mechanical zero, zero-bit arteries and veins
It rushes to determine zero position or home position.
For the incremental encoder of no Z signals, system can only calculate electrical angle increment of the motor with respect to its start time,
And for incremental encoder, the initial position that motor powers on every time is all different, and system can not learn that motor powers on moment and 0 ° of electricity
The difference of angle.For the incremental encoder of no Z signals, since its powered on moment can not know rotor-position, so needs pair
Its electrical angle measures.Because the incremental encoder of no Z signals can not learn rotor-position, rotor is likely located in 360 ° of electricity
Any position of angle.
Because the incremental encoder of no Z signals can not learn rotor-position, rotor is likely located in times of 360 ° of electrical angles
Meaning position first, forces motor to rotate a circle, and record passes through each Hall sensor jumping moment, and the numerical value of electrical angle calculates
Go out the estimated value of each region Hall mechanical angle, be recorded as table.
The first situation when motor is static, reads the corresponding Hall sensor output in motor current location, defeated according to Hall
Go out, table is estimated by each Hall section mechanical angle obtained above, obtains the electrical angle of motor Still time.According to formula 1,
Calculate motor electrical angle：
Rotor electrical angle=motor current location corresponds to the initial mechanical angle * numbers of pole-pairs (formula 1) in Hall section
The second situation, motor rotation, but the output saltus step of Hall sensor is not triggered, represent that Hall is initially constant, electricity
Machine is still run in initial section, according to formula 1, calculates motor electrical angle：
Rotor electrical angle=motor current location corresponds to the initial mechanical angle * numbers of pole-pairs (formula 1) in Hall section
The third situation, motor rotation trigger the saltus step of Hall sensor for the first time, and not for the second time by triggering for the first time
During jump position, represent motor rotation not less than one week.Triggering Hall jumping moment corresponds to code-disc value, record for the first time to record for the first time
The corresponding mechanical angle of Hall jumping moment is triggered, according to formula 2, calculates motor electrical angle：
4th kind of situation, motor rotation, and repeatedly by for the first time trigger Hall sensor saltus step position when, represent motor
Rotation was more than 1 week, in motor by triggering Hall sensor jumping moment for the first time, code-disc value count value is reset, is counted again,
It so can be to avoid the encoder stored count error brought by motor rotation, so as to improve counting precision.At this point, according to formula
3, calculate motor electrical angle：
It is carried out in detail referring to the angle detecting method of Fig. 1 and Fig. 2 incremental encoder for propose the embodiment of the present invention
Thin description.
As shown in Figure 1, the angle detecting method of the incremental encoder for one embodiment of the invention, the described method includes with
Lower step：
S1 obtains the estimated value of each region Hall mechanical angle；
S2, the Hall saltus step situation that according to motor operation when triggers calculate electrical angle；
S3 exports electric angle angle value.
With reference to shown in Fig. 2, in some embodiments, to be uniformly distributed, motor turns three Hall sensors of motor installation
When son passes through Hall sensor, Hall exports the saltus step for having low and high level, and motor rotates a circle, corresponding Hall sensor output
6 kinds of states divide the plane into 6 sections, record the corresponding electrical angle of each Hall sensor output jumping moment, are depicted as
Table.Jumping moment is exported according to Hall sensor and corresponds to electrical angle, the corresponding electric angle angle value in each section is calculated, is recorded as table.
During system electrification, the output state of Hall sensor is read, according to Hall region, calculates power-up initializing
Electrical angle.
When motor rotates, if not triggering the output saltus step of Hall sensor, represent that motor is also operated in initialization area,
Electric angle angle value is then calculated according to formula 1.
The estimated value for obtaining each region Hall mechanical angle includes：Motor is forced to rotate a circle, record is by every
A Hall sensor jumping moment, the numerical value of electrical angle calculates the estimated value of each region Hall mechanical angle, and is recorded as
Table.
It is described according to motor operation when the Hall saltus step situation that triggers calculate electrical angle and include：
Judge whether to detect first time Hall saltus step；If first time Hall saltus step is not detected, according to Hall machinery
The estimated value of angle calculates electrical angle.
8. the formula according to the estimated value of Hall mechanical angle calculating electrical angle is specially：Rotor electrical angle=motor
Current location corresponds to the initial mechanical angle * numbers of pole-pairs in Hall section
When motor rotates, and triggers the saltus step of Hall sensor for the first time, and does not pass through triggering jump position for the second time, table
Show motor rotation not less than one week, record triggers the code-disc value of Hall sensor jumping moment for the first time, record triggers Hall for the first time
Sensor saltus step moment corresponding electrical angle carries out electrical angle calculating according to formula 2.
It is described according to motor operation when the Hall saltus step situation that triggers calculate electrical angle and further comprise：If it detects described
First time Hall saltus step then further determines whether to detect second of Hall saltus step.
It is described according to motor operation when the Hall saltus step situation that triggers calculate electrical angle and further comprise：If it is not detected
Secondary Hall saltus step then records triggering Hall jumping moment for the first time and corresponds to code-disc value, and reads triggering Hall saltus step for the first time
Moment corresponds to mechanical angle, and calculates electrical angle.
The calculating of the rotor electrical angle is obtained by the following formula：
When motor rotates, and repeatedly passes through the position for triggering Hall sensor saltus step for the first time, represent motor rotation more than 1
Week in motor by triggering Hall sensor jumping moment for the first time, code-disc value count value is reset, is counted again, it so can be with
The encoder stored count error brought by motor rotation is avoided, so as to improve counting precision.At this point, electricity is carried out according to formula 3
Angle calculation.
It is described according to motor operation when the Hall saltus step situation that triggers calculate electrical angle and further comprise：If detect second
Secondary Hall saltus step, then since beginning to pass through trigger Hall jump position for the first time for the second time, every time by jump position, encoder
Value is reset, and is counted again, and is calculated electrical angle.
The calculating of the rotor electrical angle is obtained by the following formula：
The angle detecting method of the incremental encoder proposed according to the present invention, by providing more accurate rotor electrical angle,
The accuracy of motor control is improved, ensures that motor runs well.
Any process described otherwise above or method description are construed as in flow chart or herein, represent to include
Module, segment or the portion of the code of the executable instruction of one or more the step of being used to implement specific logical function or process
Point, and the scope of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discuss suitable
Sequence, including according to involved function by it is basic simultaneously in the way of or in the opposite order, carry out perform function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
Row system, device or equipment instruction fetch and the system executed instruction) it uses or combines these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium " can any can be included, store, communicate, propagate or pass
Defeated program is for instruction execution system, device or equipment or the dress used with reference to these instruction execution systems, device or equipment
It puts.The more specific example (non-exhaustive list) of computer-readable medium includes following：Electricity with one or more wiring
Connecting portion (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can be for example by carrying out optical scanner to paper or other media, then into edlin, interpretation or if necessary with it
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each several part of the present invention can be realized with hardware, software, firmware or combination thereof.Above-mentioned
In embodiment, software that multiple steps or method can in memory and by suitable instruction execution system be performed with storage
Or firmware is realized.If for example, with hardware come realize in another embodiment, can be under well known in the art
Any one of row technology or their combination are realized：With for the logic gates to data-signal realization logic function
Discrete logic, have suitable combinational logic gate circuit application-specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are appreciated that realize all or part of step that above-described embodiment method carries
Suddenly it is that relevant hardware can be instructed to complete by program, the program can be stored in a kind of computer-readable storage medium
In matter, the program upon execution, one or a combination set of the step of including embodiment of the method.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing module, it can also
That unit is individually physically present, can also two or more units be integrated in a module.Above-mentioned integrated mould
The form that hardware had both may be employed in block is realized, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized in the form of software function module and is independent production marketing or in use, can also be stored in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment of the present invention or example.In the present specification, schematic expression of the above terms is not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiments or example in combine in an appropriate manner.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is by appended claims and its equivalent limits.
Claims (9)
1. a kind of angle detecting method of incremental encoder, which is characterized in that comprise the following steps：
Obtain the estimated value of each region Hall mechanical angle；
The Hall saltus step situation triggered during according to motor operation calculates electrical angle；
Export electric angle angle value.
2. the angle detecting method of incremental encoder as described in claim 1, which is characterized in that described to obtain each region suddenly
You include the estimated value of mechanical angle：Motor is forced to rotate a circle, record passes through each Hall sensor jumping moment mechanical angle
The numerical value of degree calculates the estimated value of each region Hall mechanical angle according to each region Liang Ge edges mechanical angle, and remembers
Record into table.
3. the angle detecting method of incremental encoder as described in claim 1, which is characterized in that it is described according to motor operation when
The Hall saltus step situation of triggering, which calculates electrical angle, to be included：
Judge whether to detect first time Hall saltus step；If first time Hall saltus step is not detected, according to Hall mechanical angle
Estimated value calculate electrical angle.
4. the angle detecting method of incremental encoder as claimed in claim 3, which is characterized in that it is described according to motor operation when
The Hall saltus step situation of triggering calculates electrical angle and further comprises：
If detecting the first time Hall saltus step, further determine whether to detect second of Hall saltus step.
5. the angle detecting method of incremental encoder as claimed in claim 4, which is characterized in that it is described according to motor operation when
The Hall saltus step situation of triggering calculates electrical angle and further comprises：
If second of Hall saltus step is not detected, records triggering Hall jumping moment for the first time and corresponds to code-disc value, and reading the
Once triggering Hall jumping moment corresponds to mechanical angle, and calculates electrical angle.
6. the angle detecting method of incremental encoder as claimed in claim 4, which is characterized in that it is described according to motor operation when
The Hall saltus step situation of triggering calculates electrical angle and further comprises：
If detecting second of Hall saltus step, since beginning to pass through trigger Hall jump position for the first time for the second time, pass through every time
Jump position is crossed, encoder values reset, count again, and calculate electrical angle.
7. the angle detecting method of incremental encoder as claimed in claim 3, which is characterized in that if described be not detected first
Secondary Hall saltus step, the then calculating of rotor electrical angle according to the estimated value of Hall mechanical angle calculating electrical angle pass through following
Formula obtains：Rotor electrical angle=motor current location corresponds to the initial mechanical angle * numbers of pole-pairs in Hall section
8. the angle detecting method of incremental encoder as claimed in claim 5, which is characterized in that the meter of the rotor electrical angle
It calculates and is obtained by the following formula：
9. the angle detecting method of incremental encoder as claimed in claim 6, which is characterized in that the meter of the rotor electrical angle
It calculates and is obtained by the following formula：
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Cited By (7)
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| CN108512478A (en) * | 2018-05-29 | 2018-09-07 | 北京航空航天大学 | Permanent magnet machine rotor Position And Velocity estimating system and method based on three-phase switch type hall position sensor |
| CN109870177A (en) * | 2019-02-15 | 2019-06-11 | 广州极飞科技有限公司 | Magnetic coder and its calibration method and calibrating installation, motor and unmanned vehicle |
| CN110752800A (en) * | 2019-11-28 | 2020-02-04 | 安徽中车瑞达电气有限公司 | Novel motor rotor position estimation method |
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| CN113890429A (en) * | 2021-10-29 | 2022-01-04 | 广东工业大学 | Hall element-based motor reducer absolute angle fitting system and fitting method |
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| CN113890429A (en) * | 2021-10-29 | 2022-01-04 | 广东工业大学 | Hall element-based motor reducer absolute angle fitting system and fitting method |
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