CN109388156A - A kind of incremental encoder by image area code seeks zero method - Google Patents
A kind of incremental encoder by image area code seeks zero method Download PDFInfo
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- CN109388156A CN109388156A CN201811416361.9A CN201811416361A CN109388156A CN 109388156 A CN109388156 A CN 109388156A CN 201811416361 A CN201811416361 A CN 201811416361A CN 109388156 A CN109388156 A CN 109388156A
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Abstract
Zero method is sought the present invention relates to a kind of incremental encoder by image area code, range selection is limited suitably with the encoder of image area code according to mechanism, and it is correctly assembled, after seeking zero beginning, it first passes through and is assigned to image area code variable as code area, and by current image area code value locating for code wheel reading head reading current facility；Start counter over time limit simultaneously, and seek null mode into circulation, at the end of seeking zero, motor stops rotating, and seeks zero result reporting system.This method is not limited by mechanism initial position, it is short to seek the zero-time, encoder and motor normal condition seek zero success next time, if mechanism-trouble or encoder code channel are had damage, it can be repeated as many times and seek zero, ensure that seek zero adequacy, meanwhile, avoid tradition seek zero mode to the impact damage of motor and mechanism.
Description
Technical field
The present invention is applied to finite angle high reliability servo-system, and in particular to a kind of increment type volume by image area code
Code device seeks zero method.
Background technique
The present invention relates to a kind of zero method of seeking of incremental encoder by image area code, mechanism described herein is referred mainly to
Applied to high reliability, the system of stability requirement such as airborne or missile-borne photoelectricity servos.It is limited to product cost and production domesticization
The influence of the manufacture craft of encoder, airborne opto-electronic servo system rotating mechanism more use incremental encoder or quasi- absolute
Formula encoder, traditional zero method of seeking is to increase limit sensors at mechanism limited block both ends, passes through limit sensors and motor
Stall is as the Primary Reference for seeking zero.It is indefinite that this seeks zero method region locating for mechanism during seeking zero, seeks zero low efficiency
Under, and easily collide limit switch during seeking zero perhaps limited block is easy to damage mechanism or motor；Meanwhile outside
Portion increases limit switch, will increase mechanism design cost and mechanism weight.Airborne products need loss of weight higher and higher at present,
Ask the weight of airborne products more and more lighter, in order to make up the deficiency of conventional method, the invention proposes a kind of by image area code
Incremental encoder seeks zero method.Although the present invention is based on above-mentioned application background, the present invention is not limited to circle codification
Device.
Existing patent proposes that zero method, such as zero position-searching method for limited angle servo turntable are sought in position at present
(CN201010584293.4), make turntable that there is the first reference point and auxiliary reference point two by way of increasing optoelectronic switch
A reference point, this method still fall within the mode of additional limit switch, and it is lower to seek zero efficiency, and belong to and disposably seek zero, if one
It is secondary to seek zero failure, then it counts out.Also for example, a kind of seek zero method for the rapid location with limit turntable
(201510147950.1) it carries out seeking zero by the way that limit point is arranged in difference, also belongs to the mode of external reference point, and
Disposably to seek zero, if mechanism-trouble or encoder code channel are had damage, zero insufficient, the failure of Yi Xun zero is sought.
Summary of the invention
Technical problems to be solved
Zero needs are sought by exterior sensor in order to solve existing encoder, and organization volume, weight, cost is caused to increase
Add, and tradition seeks zero method and only carries out once seeking zero, seeks the not high problem of zero reliability, the present invention provides a kind of encoder as
The imprinting Position Design and assembly method of area's code, while proposing and seeking zero control algolithm accordingly.
Technical solution
A kind of incremental encoder by image area code seeks zero method, it is characterised in that steps are as follows:
Step 1: range selection being limited according to mechanism and is suitably assembled with the encoder of image area code, and correctly；Choosing
Whole circumference can be at least divided into 4 regions by the image area code for the encoder imprinting selected, wherein the 2nd yard of area at least one or it is more
A zero-bit, it is all right that whether there is or not zero-bits in other regions；Guarantee mechanism when encoder is installed according to the limited block position of servo mechanism
Non- stop zone must be comprising 1 as at least three including area is as area；
Step 2: position seeks zero:
After 2.1 seek zero beginning, first passes through code wheel reading head and read locating for current facility as code area, and by current elephant area
Code value is assigned to image area code variable；Start counter over time limit simultaneously, and seek null mode into circulation, selects 2.2-2.5 tetra- respectively
A branch in a branch；
2.2 the 1st seek nought state as zone position
If image area code variate-value is 1, mechanism rotates clockwise, while judging whether to seek zero-bit, if seeking
Zero-bit then seeks zero success, motor stalls；If not seeking zero-bit, continue rotationally clockwise, until mechanism enters the 3rd
As area, into the 3rd as area after, as area variable value is set to 3, judges simultaneously, whether overtime seek zero, if still having not timed out limit,
Turn branch 2.4；
2.3 the 2nd seek nought state as zone position
If image area code variate-value is 2, mechanism rotates clockwise, while judging whether to seek zero-bit, if seeking
Zero-bit then seeks zero success, motor stalls；If not seeking zero-bit, continue rotationally clockwise, until mechanism enters the 3rd
As area, into the 3rd as area after, as area variable value is set to 3, judges simultaneously, whether overtime seek zero, if still having not timed out limit,
Turn branch 2.4；
2.4 the 3rd seek nought state as zone position
If image area code variate-value is 3, mechanism rotates counterclockwise, while judging whether to seek zero-bit, if seeking
Zero-bit then seeks zero success, motor stalls；If not seeking zero-bit, continue to rotate in an anti-clockwise direction, until mechanism enters the 1st
As area, into the 1st as area after, as area variable value is set to 1, judges simultaneously, whether overtime seek zero, if still having not timed out limit,
Turn branch 2.2；
2.5 the 4th seek nought state as zone position
If image area code variate-value is 4, mechanism rotates counterclockwise, while judging whether to seek zero-bit, if seeking
Zero-bit then seeks zero success, motor stalls；If not seeking zero-bit, continue to rotate in an anti-clockwise direction, until mechanism enters the 1st
As area, into the 1st as area after, as area variable value is set to 1, judges simultaneously, whether overtime seek zero, if still having not timed out limit,
Turn branch 2.2；
2.6 seek zero end
2.6.1 when mechanism is normal, if mechanism initial position has executed any one in 2.2,2.4,2.5 at 1,3,4 yard of area
A branch can seek zero success, and for mechanism initial position at the 2nd yard of area, can also be sought by most walking 2.3,2.4 Liang Ge branches by zero one-tenth
Function seeks zero end；
If 2.6.2 mechanism or when encoder fault, mechanism eventually 1,3 as back and forth being sought between area more than zero time, until
It seeks to-zero counter and is greater than the setting time limit, reporting system seeks zero failure, seeks zero end；
At the end of seeking zero, motor stops rotating, and seeks zero result reporting system.
The encoder includes photoelectric encoder, magnetic coder；Including relative type motor encoder, Virtual absolute encoder；
Including annular encoder, band-like encoder.
Beneficial effect
A kind of incremental encoder by image area code proposed by the present invention seeks zero method, and this method is not by mechanism initial bit
The limitation set, seeks that the zero-time is short, and encoder and motor normal condition seek zero success next time, if mechanism-trouble or encoder code
When road is had damage, can be repeated as many times seek zero, ensure that seek zero adequacy, meanwhile, avoid tradition and seek zero mode to motor
With the impact damage of mechanism.It has the beneficial effect that:
1. simplifying mechanism structure design without installing other sensors other than encoder, reducing cost, and reach
Loss of weight requirement；
It is disposable to complete to seek zero 2. under mechanism reference performance, when mechanism operation irregularity, it can be repeated several times and seek zero；
3. odd-job work is sought the achievable position under any initial position by mechanism, it is not limited in some fixation and seeks null range
It is interior；
4. seek during zero will not knocking gear limited block, cause motor rotation blockage, increase the reliability of product.
Detailed description of the invention
Fig. 1 is image area code encoder schematic diagram.
Fig. 2 seeks zero software algorithm design drawing.
Specific embodiment
Now in conjunction with embodiment, attached drawing, the invention will be further described:
It is a kind of that zero method is sought by the incremental encoder with image area code, specifically comprise the following steps:
The first step limits range selection according to mechanism and is suitably assembled with the encoder of image area code, and correctly；
The encoder is not limited only to photoelectric encoder, further includes magnetic coder；Also it is not limited only to relative type motor coding
Device further includes Virtual absolute encoder；It is more not limited only to annular encoder, further includes band-like encoder.It is characterized in that, choosing
Whole circumference can be at least divided into 4 regions by the image area code for the encoder imprinting selected, and encoder as shown in Figure 1 (if with
In band-like encoder, then band-like encoder analogy can be curved to round encoder, carry out respective partition), wherein the 2nd yard of area is at least
One or more zero-bits, other regions whether there is or not zero-bit it is all right (；It is further characterized in that according to the limited block position of servo mechanism, peace
When filling encoder, guarantee that the non-stop zone of mechanism must be comprising 1 as at least three including area is as area's (that is non-limit
Region is comprising 1,2,3 yard of area or includes 1,2,3,4 yard of area).
Second step, position seek zero:
After 2.1 seek zero beginning, first pass through reading head and read locating for current facility as code area, and enter it is right in 2.2-2.5
The branch answered, while seeking to-zero counter and starting counting；
2.2 the 1st seek nought state as zone position
If mechanism is in the 1st as zone position, mechanism is to the direction a (assuming that mechanism switchs to the direction a toward a direction, in addition
One direction is the direction b, may respectively be suitable, counter clockwise direction.Specifically depending on mechanism concrete condition, similarly hereinafter) quickly rotation, directly
To 1 zero-bit as area is passed through, if seeking zero-bit, motor stalls seek zero success；If not seeking zero-bit, continues the direction a and turn
It is dynamic, until mechanism enters the 3rd as area, into the 3rd as Qu Houzhuan branch 2.4；
2.3 the 2nd seek nought state as zone position
If mechanism is in the 2nd as zone position, mechanism is quickly rotated to the direction a, if seeking zero-bit in operational process, electricity
Machine stops operating, and seeks zero success；If not seeking zero-bit, interrupted gear is rotated to the direction a, until entering the 3rd as area, into the 3rd
As Qu Houzhuan branch 2.4；
2.4 the 3rd seek nought state as zone position
If mechanism is in the 3rd as zone position, mechanism is quickly rotated to the direction b, until entering the 1st as area, operational process
If zero-bit is sought in, motor stalls seek zero success；If not seeking zero-bit, continue to run to the direction b, until entering the 1st
As area, into the 1st as Qu Houzhuan branch 2.2；
2.5 the 4th seek nought state as zone position
If mechanism is in the 4th as zone position, mechanism is quickly rotated to the direction b, (assuming that 4 as in area close to 3 as Qu Youyi
Partly belong to non-stop zone), until entering the 1st as area, if seeking zero-bit in operational process, motor stalls seek zero
Success；If not seeking zero-bit, continue to run to the direction b, until entering the 1st as area, into the 1st as Qu Houzhuan branch 2.2；
2.6 seek zero end
2.6.1 when mechanism coding device is normal, any one branch in having executed 2.2-2.5, mechanism can seek zero success,
Motor stopping is sought zero-turn and is moved, and zero end is sought.
2.6.2 mechanism or when encoder fault, mechanism can be 1,3 as back and forth seeking between area more than zero time, until seeking zero meter
Number device is greater than the setting time limit, and reporting system seeks zero failure, and motor stopping is sought zero-turn and moved, and seeks zero end.
Now by taking circular grating encoder as an example, it is indicated that specific implementation step of the invention, it is a kind of based on image area code
Incremental encoder seeks zero method, specifically comprises the following steps:
The first step limits range according to mechanism, and selection is suitably assembled with the encoder of image area code, and correctly；
This example mechanism limits range between 175 ° -180 °, only one zero-bit of the incremental optical-electricity encoder of selection,
Positioned at the 2nd yard of area (at 0 °).This example increases by two code channels in the outer ring of traditional increment photoelectric code disk grating, by angle measurement model
It encloses and is divided into 4 areas Ge Ma, for the specific imprinting mode of code channel as shown in Figure 1, after imprinting, subregion range is respectively -82.5 °~-7.5 °
For the 1st as area, -7.5 °~7.5 ° are the 2nd as area, 7.5~172.5 ° for the 3rd as area, 172.5 °~-82.5 ° for the 4th as area.
According to the limit block size of servo mechanism, encoder installation site is adjusted, so that limited block position is located at the 4th yard
In area, (after actual installation limit range fall between 175~-88 °), ensure that mechanism non-stop zone must comprising 1,2,
3 yards of areas.
Second step, position seek zero:
After having carried out the first step, after mechanism powers on, controller will complete position according to workflow shown in Fig. 2 and seek
Zero correlation step:
2.1 seek null variable initialization.
After seeking zero beginning, first passes through code wheel reading head and read locating for current facility as code area, and by current image area code
Value is assigned to image area code variable；Start counter over time limit simultaneously, and seek null mode into circulation, 2.2-2.5 tetra- is walked in selection respectively
A branch in a branch.
2.2 the 1st seek nought state as zone position
If image area code variate-value is 1, mechanism quickly rotates clockwise, while judging whether to seek zero-bit, if
Zero-bit is sought, then seeks zero success, motor stalls；If not seeking zero-bit, continue rotationally clockwise, until mechanism enters
3rd as area, into the 3rd as area after, as area variable value is set to 3, judges simultaneously, whether overtime seek zero, if still having not timed out limit,
Ze Zhuan branch 2.4；
2.3 the 2nd seek nought state as zone position
If image area code variate-value is 2, mechanism quickly rotates clockwise, while judging whether to seek zero-bit, if
Zero-bit is sought, then seeks zero success, motor stalls；If not seeking zero-bit, continue rotationally clockwise, until mechanism enters
3rd as area, into the 3rd as area after, as area variable value is set to 3, judges simultaneously, whether overtime seek zero, if still having not timed out limit,
Ze Zhuan branch 2.4；
2.4 the 3rd seek nought state as zone position
If image area code variate-value is 3, mechanism quickly rotates counterclockwise, while judging whether to seek zero-bit, if
Zero-bit is sought, then seeks zero success, motor stalls；If not seeking zero-bit, continue to rotate in an anti-clockwise direction, until mechanism enters
1st as area, into the 1st as area after, as area variable value is set to 1, judges simultaneously, whether overtime seek zero, if still having not timed out limit,
Ze Zhuan branch 2.2；
2.5 the 4th seek nought state as zone position
If image area code variate-value is 4, mechanism quickly rotates counterclockwise, while judging whether to seek zero-bit, if
Zero-bit is sought, then seeks zero success, motor stalls；If not seeking zero-bit, continue to rotate in an anti-clockwise direction, until mechanism enters
1st as area, into the 1st as area after, as area variable value is set to 1, judges simultaneously, whether overtime seek zero, if still having not timed out limit,
Ze Zhuan branch 2.2；
2.6 seek zero end
2.6.1 when mechanism is normal, if mechanism initial position has executed any one in 2.2,2.4,2.5 at 1,3,4 yard of area
A branch can seek zero success, and for mechanism initial position at the 2nd yard of area, can also be sought by most walking 2.3,2.4 Liang Ge branches by zero one-tenth
Function seeks zero end.
If 2.6.2 mechanism or when encoder fault, mechanism eventually 1,3 as back and forth being sought between area more than zero time, until
It seeks to-zero counter and is greater than the setting time limit, reporting system seeks zero failure, seeks zero end.
At the end of seeking zero, motor stops rotating, and seeks zero result reporting system.
Mechanism will not add installation sensor again through the invention, and not will cause mechanism and hit limited block, use simultaneously
Circulation seeks zero logic, and ensure that secondary can seek zero in the case where once seeking zero failure, increase seek zero success rate；
And be provided with and sought for zero time limit, in mechanism or encoder fault, over time limit can stop seeking zero, reporting fault.
Claims (2)
1. a kind of incremental encoder by image area code seeks zero method, it is characterised in that steps are as follows:
Step 1: range selection being limited according to mechanism and is suitably assembled with the encoder of image area code, and correctly；Selection
Whole circumference can be at least divided into 4 regions by the image area code of encoder imprinting, wherein the 2nd yard of area at least one or multiple zero
Position, it is all right that whether there is or not zero-bits in other regions；Guarantee the non-limit of mechanism when encoder is installed according to the limited block position of servo mechanism
It position region must be comprising 1 as at least three including area is as area；
Step 2: position seeks zero:
After 2.1 seek zero beginning, first passes through code wheel reading head and read locating for current facility as code area, and by current image area code value
It is assigned to image area code variable；Start counter over time limit simultaneously, and seek null mode into circulation, selects tetra- points of 2.2-2.5 respectively
A branch in branch；
2.2 the 1st seek nought state as zone position
If image area code variate-value is 1, mechanism rotates clockwise, while judging whether to seek zero-bit, if seeking zero-bit,
Then seek zero success, motor stalls；If not seeking zero-bit, continue rotationally clockwise, until mechanism enters the 3rd as area,
Into the 3rd as area after, as area variable value is set to 3, judges simultaneously, whether overtime seek zero, if still having not timed out limit, Ze Zhuan branch
2.4；
2.3 the 2nd seek nought state as zone position
If image area code variate-value is 2, mechanism rotates clockwise, while judging whether to seek zero-bit, if seeking zero-bit,
Then seek zero success, motor stalls；If not seeking zero-bit, continue rotationally clockwise, until mechanism enters the 3rd as area,
Into the 3rd as area after, as area variable value is set to 3, judges simultaneously, whether overtime seek zero, if still having not timed out limit, Ze Zhuan branch
2.4；
2.4 the 3rd seek nought state as zone position
If image area code variate-value is 3, mechanism rotates counterclockwise, while judging whether to seek zero-bit, if seeking zero-bit,
Then seek zero success, motor stalls；If not seeking zero-bit, continue to rotate in an anti-clockwise direction, until mechanism enters the 1st as area,
Into the 1st as area after, as area variable value is set to 1, judges simultaneously, whether overtime seek zero, if still having not timed out limit, Ze Zhuan branch
2.2；
2.5 the 4th seek nought state as zone position
If image area code variate-value is 4, mechanism rotates counterclockwise, while judging whether to seek zero-bit, if seeking zero-bit,
Then seek zero success, motor stalls；If not seeking zero-bit, continue to rotate in an anti-clockwise direction, until mechanism enters the 1st as area,
Into the 1st as area after, as area variable value is set to 1, judges simultaneously, whether overtime seek zero, if still having not timed out limit, Ze Zhuan branch
2.2；
2.6 seek zero end
2.6.1 when mechanism is normal, if mechanism initial position at 1,3,4 yard of area, has executed any one in 2.2,2.4,2.5 point
Branch, can seek zero success, for mechanism initial position at the 2nd yard of area, zero success can also be sought by most walking 2.3,2.4 Liang Ge branches, be sought
Zero terminates；
If 2.6.2 mechanism or when encoder fault, mechanism between area eventually 1,3 as back and forth seeking more than zero time, until seeking zero
Counter is greater than the setting time limit, and reporting system seeks zero failure, seeks zero end；
At the end of seeking zero, motor stops rotating, and seeks zero result reporting system.
2. a kind of incremental encoder by image area code according to claim 1 seeks zero method, it is characterised in that described
Encoder include photoelectric encoder, magnetic coder；Including relative type motor encoder, Virtual absolute encoder；
Including annular encoder, band-like encoder.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113276985A (en) * | 2021-06-10 | 2021-08-20 | 济南科亚电子科技有限公司 | Driver control method for automatically zeroing steering wheel by using incremental encoder motor |
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