CN109388156B - Zero searching method of incremental encoder through image area code - Google Patents
Zero searching method of incremental encoder through image area code Download PDFInfo
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Abstract
The invention relates to a zero searching method of an incremental encoder through image area codes, which comprises the steps of selecting a proper encoder with image area codes according to a mechanism limiting range, carrying out correct assembly, reading an image code area where a current mechanism is located through a code wheel reading head after zero searching starts, and assigning a current image area code value to an image area code variable; and simultaneously starting an over-time counter, entering a circular zero-seeking mode, stopping the rotation of the motors when zero seeking is finished, and reporting a zero-seeking result to the system. The method is not limited by the initial position of the mechanism, the zero searching time is short, the encoder and the motor can be successfully zero searched once under the normal condition, if the mechanism is in fault or the code channel of the encoder is damaged, the zero searching can be repeated for many times, the sufficiency of zero searching is ensured, and meanwhile, the impact damage of the traditional zero searching mode to the motor and the mechanism is avoided.
Description
Technical Field
The invention is applied to a limited corner high-reliability servo system, and particularly relates to a zero searching method of an incremental encoder through image area codes.
Background
The invention relates to a zero searching method of an incremental encoder through an image area code, and the mechanism mainly refers to a system which is applied to high reliability and stability requirements of airborne or missile-borne photoelectric servo and the like. The zero-seeking method is limited by the influence of product cost and the manufacturing process of a domestic encoder, an incremental encoder or a quasi-absolute encoder is more used for an airborne photoelectric servo system rotating mechanism, a limiting sensor is additionally arranged at two ends of a mechanism limiting block in the traditional zero-seeking method, and the limiting sensor and motor blocking rotation are used as main reference for zero seeking. The zero searching method has the advantages that the area of the mechanism is not clear in the zero searching process, the zero searching efficiency is low, and the limit switch or the limit block is easy to collide in the zero searching process, so that the mechanism or the motor is easy to damage; meanwhile, the limit switch is added to the outside, so that the design cost and the weight of the mechanism can be increased. At present, the weight reduction requirement of an airborne product is higher and higher, the weight of the airborne product is required to be lighter and lighter, and in order to make up for the defects of the traditional method, the invention provides a zero searching method of an incremental encoder through an image area code. Although the present invention is based on the above application background, the present invention is not limited to circular encoders.
The current existing patent proposes a position zero-finding method, such as a position zero-finding method for a limited rotation angle servo turntable (CN201010584293.4), in which a turntable has two reference points, namely a first reference point and an auxiliary reference point, by adding a photoelectric switch, the method still belongs to a method of adding a limit switch, the zero-finding efficiency is low, and belongs to one-time zero-finding, and if one-time zero-finding fails, the failure is declared. For example, a fast position zero-searching method (201510147950.1) with a limit turntable performs zero-searching by setting limit points at different points, also belongs to a mode of an external reference point, and is also zero-searching for one time, and if a mechanism fails or an encoder code channel is damaged, zero-searching is insufficient, and zero-searching failure is easy.
Disclosure of Invention
Technical problem to be solved
The invention provides a recording position design and assembly mode of an encoder image area code and provides a corresponding zero searching control algorithm, aiming at solving the problems that the conventional zero searching method only needs to search zero once and has low zero searching reliability because the size, the weight and the cost of a mechanism are increased by an external sensor, and the conventional zero searching method is only used for searching zero once.
Technical scheme
A zero searching method for incremental encoder through image area code is characterized by comprising the following steps:
step 1: selecting a proper encoder with image area codes according to the limiting range of the mechanism, and carrying out correct assembly; the image area code recorded by the selected encoder can at least divide the whole circumference into 4 areas, wherein the 2 nd code area has at least one or more zero positions, and the other areas have zero positions or not; according to the position of a limiting block of the servo mechanism, when the encoder is installed, the non-limiting area of the mechanism is ensured to contain at least 3 image areas including 1 image area;
step 2: position zero finding:
2.1 after zero searching is started, reading an image code area where the current mechanism is located through a code disc reading head, and assigning the current image area code value to an image area code variable; simultaneously starting an over-time counter, entering a circular zero-searching mode, and respectively selecting one of four branches 2.2-2.5;
2.2 zeroth image zone position zeroing state
If the image area code variable value is 1, the mechanism rotates clockwise, whether a zero position is found is judged, if the zero position is found, the zero position is found successfully, and the motor stops rotating; if the zero position is not found, the mechanism continues to rotate clockwise until the mechanism enters a 3 rd quadrant, after the mechanism enters the 3 rd quadrant, the quadrant variable value is set to be 3, meanwhile, whether the zero searching is overtime or not is judged, and if the zero searching is not overtime, the mechanism branches to 2.4;
2.3 zeroth quadrant position seeking state
If the image area code variable value is 2, the mechanism rotates clockwise, whether a zero position is found is judged, if the zero position is found, the zero position is found successfully, and the motor stops rotating; if the zero position is not found, the mechanism continues to rotate clockwise until the mechanism enters a 3 rd quadrant, after the mechanism enters the 3 rd quadrant, the quadrant variable value is set to be 3, meanwhile, whether the zero searching is overtime or not is judged, and if the zero searching is not overtime, the mechanism branches to 2.4;
2.4 image zone 3 position zeroing state
If the image area code variable value is 3, the mechanism rotates anticlockwise, whether a zero position is found is judged, if the zero position is found, the zero position is found successfully, and the motor stops rotating; if the zero position is not found, the mechanism continues to rotate in the anticlockwise direction until the mechanism enters the No. 1 image area, after the mechanism enters the No. 1 image area, the value of the image area is set to be 1, meanwhile, whether the zero searching is overtime or not is judged, and if the zero searching is not overtime, the branch is switched to be 2.2;
2.5 No. 4 image zone position zeroing state
If the image area code variable value is 4, the mechanism rotates anticlockwise, whether a zero position is found is judged, if the zero position is found, the zero position is found successfully, and the motor stops rotating; if the zero position is not found, the mechanism continues to rotate in the anticlockwise direction until the mechanism enters the No. 1 image area, after the mechanism enters the No. 1 image area, the value of the image area is set to be 1, meanwhile, whether the zero searching is overtime or not is judged, and if the zero searching is not overtime, the branch is switched to be 2.2;
2.6 end of zeroing
2.6.1 when the mechanism is normal, if the initial position of the mechanism is in the code area of 1, 3 and 4, any branch of 2.2, 2.4 and 2.5 is executed, the zero searching can be successful, and when the initial position of the mechanism is in the code area of 2, at most two branches of 2.3 and 2.4 can be successfully searched, the zero searching is finished;
2.6.2 if the mechanism or the encoder fails, the mechanism finally performs zero searching repeatedly between the 1 image area and the 3 image area until the zero searching counter is larger than the set time limit, reports the zero searching fault of the system, and finishes zero searching;
and when the zero searching is finished, the motors stop rotating, and the zero searching result is reported to the system.
The encoder comprises a photoelectric encoder and a magnetic encoder; comprises a relative encoder and a quasi-absolute encoder; including circular encoders, strip encoders.
Advantageous effects
The incremental encoder zero searching method through the image area code is not limited by the initial position of the mechanism, the zero searching time is short, the encoder and the motor can be successfully zero searched once under the normal condition, if the mechanism is in fault or the code channel of the encoder is damaged, the zero searching can be repeated for many times, the zero searching sufficiency is ensured, and meanwhile, the impact damage of the traditional zero searching mode to the motor and the mechanism is avoided. The beneficial effects are as follows:
1. other sensors except the encoder are not required to be installed, the structural design of the mechanism is simplified, the cost is reduced, and the weight reduction requirement is met;
2. when the mechanism works normally, zero searching is finished at one time, and when the mechanism works abnormally, zero searching can be repeated for many times;
3. the mechanism can complete the position zero-seeking work under any initial position and is not limited in a certain fixed zero-seeking area;
4. the zero searching process can not impact a mechanism limiting block to cause motor stalling, and the reliability of the product is improved.
Drawings
Figure 1 is a schematic diagram of an image area code encoder.
FIG. 2 shows a zero-finding software algorithm layout.
Detailed Description
The invention will now be further described with reference to the following examples and drawings:
a zero searching method through an incremental encoder with an image area code specifically comprises the following steps:
firstly, selecting a proper encoder with image area codes according to the limiting range of a mechanism, and carrying out correct assembly;
the encoder is not limited to a photoelectric encoder, but includes a magnetic encoder; nor is it limited to relative encoders, but also includes quasi-absolute encoders; and more particularly to circular encoders but also to strip encoders. It is characterized by that the image zone code recorded by selected coder can divide whole circumference into 4 zones, and the coder is shown in figure 1 (if it is used in band coder, the band coder can be bent into circular coder, and can be divided into zones, in which the 2 nd code zone has at least one or several zero positions, and other zones have no zero position, and all the other zones are parallel (it is characterized by that according to the position of limiting block of servo mechanism, when the coder is mounted, it must ensure that the non-limiting zone of the mechanism must contain at least 3 image zones within 1 image zone (that is, the non-limiting zone contains 1, 2, 3 code zones or 1, 2, 3, 4 code zones).
Step two, position zeroing:
2.1 after zero searching, reading the image code area of the current mechanism through the reading head, entering the corresponding branch of 2.2-2.5, and starting counting by the zero searching counter;
2.2 zeroth image zone position zeroing state
If the mechanism is in the 1 st image area position, the mechanism rapidly rotates towards the direction a (assuming that the mechanism is turned towards the direction a, and the other direction is the direction b, which can be clockwise or anticlockwise respectively, specifically, the mechanism is determined according to the specific situation, the same is applied below) until the mechanism passes through the zero position of the 1 st image area, and if the zero position is found, the motor stops rotating, and the zero finding is successful; if the zero position is not found, the rotation in the direction a is continued until the mechanism enters the 3 rd image area, and the branch is turned to 2.4 after the mechanism enters the 3 rd image area;
2.3 zeroth quadrant position seeking state
If the mechanism is located at the 2 nd image area position, the mechanism rotates rapidly towards the direction a, and if a zero position is found in the operation process, the motor stops rotating, and the zero position finding is successful; if the zero position is not found, the mechanism continues to rotate towards the direction a until the mechanism enters the 3 rd image area, and then the mechanism rotates to branch 2.4 after entering the 3 rd image area;
2.4 image zone 3 position zeroing state
If the mechanism is positioned in the 3 rd image area, the mechanism rapidly rotates towards the direction b until entering the 1 st image area, and if a zero position is found in the running process, the motor stops rotating, and the zero finding is successful; if the zero position is not found, continuing to run in the direction b until the image area 1 is entered, and switching to branch 2.2 after the image area 1 is entered;
2.5 No. 4 image zone position zeroing state
If the mechanism is located at the 4 th image area, the mechanism rapidly rotates towards the direction b (if a part of the 4 th image area close to the 3 rd image area belongs to a non-limiting area), and until the mechanism enters the 1 st image area, if a zero position is found in the running process, the motor stops rotating, and the zero position finding is successful; if the zero position is not found, continuing to run in the direction b until the image area 1 is entered, and switching to branch 2.2 after the image area 1 is entered;
2.6 end of zeroing
When the 2.6.1 mechanism encoder is normal, the mechanism can successfully seek zero after executing any branch of 2.2-2.5, the motor stops the zero seeking rotation, and the zero seeking is finished.
2.6.2 when the mechanism or the encoder is in fault, the mechanism can repeatedly zero between the 1 image area and the 3 image area until the zero-searching counter is larger than the set time limit, the zero-searching fault of the system is reported, the motor stops zero-searching rotation, and zero searching is finished.
Taking a circular grating encoder as an example, the specific implementation steps of the present invention are pointed out, and a zero-finding method based on an incremental encoder with an image area code specifically includes the following steps:
firstly, selecting a proper encoder with an image area code according to the limiting range of a mechanism, and carrying out correct assembly;
the limiting range of the mechanism of the embodiment is 175-180 degrees, and the selected incremental photoelectric encoder has only one zero position and is positioned in a 2 nd code area (0 degree). In the example, two code channels are added to an outer ring of a traditional incremental photoelectric code disc grating, an angle measuring range is divided into 4 code areas, a specific recording mode of the code channels is shown in fig. 1, after recording, the sub-area ranges from-82.5 degrees to-7.5 degrees, namely, a 1 st image area, from-7.5 degrees to 7.5 degrees, namely, a 2 nd image area, from 7.5 degrees to 172.5 degrees, namely, a 3 rd image area, and from 172.5 degrees to-82.5 degrees, namely, a 4 th image area.
According to the size of a limiting block of the servo mechanism, the installation position of the encoder is adjusted, so that the position of the limiting block is positioned in a fourth code area (the limiting range is between 175 and 88 degrees after actual installation), and the fact that a non-limiting area of the mechanism must contain code areas 1, 2 and 3 is guaranteed.
Step two, position zeroing:
after the first step is performed and the mechanism is powered on, the controller will complete the steps related to position zeroing according to the workflow shown in fig. 2:
2.1 zero-finding variable initialization.
After zero searching is started, reading an image code area where a current mechanism is located through a code disc reading head, and assigning a current image area code value to an image area code variable; and simultaneously starting an over-time counter, entering a circular zero-searching mode, and respectively selecting one of four branches 2.2-2.5.
2.2 zeroth image zone position zeroing state
If the value of the area code variable is 1, the mechanism rapidly rotates clockwise, whether a zero position is found is judged, if the zero position is found, the zero position is found successfully, and the motor stops rotating; if the zero position is not found, the mechanism continues to rotate clockwise until the mechanism enters a 3 rd quadrant, after the mechanism enters the 3 rd quadrant, the quadrant variable value is set to be 3, meanwhile, whether the zero searching is overtime or not is judged, and if the zero searching is not overtime, the mechanism branches to 2.4;
2.3 zeroth quadrant position seeking state
If the image area code variable value is 2, the mechanism rapidly rotates clockwise, whether a zero position is found is judged, if the zero position is found, the zero position is found successfully, and the motor stops rotating; if the zero position is not found, the mechanism continues to rotate clockwise until the mechanism enters a 3 rd quadrant, after the mechanism enters the 3 rd quadrant, the quadrant variable value is set to be 3, meanwhile, whether the zero searching is overtime or not is judged, and if the zero searching is not overtime, the mechanism branches to 2.4;
2.4 image zone 3 position zeroing state
If the image area code variable value is 3, the mechanism rapidly rotates in the anticlockwise direction, whether a zero position is found is judged, if the zero position is found, the zero position is found successfully, and the motor stops rotating; if the zero position is not found, the mechanism continues to rotate in the anticlockwise direction until the mechanism enters the No. 1 image area, after the mechanism enters the No. 1 image area, the value of the image area is set to be 1, meanwhile, whether the zero searching is overtime or not is judged, and if the zero searching is not overtime, the branch is switched to be 2.2;
2.5 No. 4 image zone position zeroing state
If the image area code variable value is 4, the mechanism rapidly rotates in the anticlockwise direction, whether a zero position is found is judged, if the zero position is found, the zero position is found successfully, and the motor stops rotating; if the zero position is not found, the mechanism continues to rotate in the anticlockwise direction until the mechanism enters the No. 1 image area, after the mechanism enters the No. 1 image area, the value of the image area is set to be 1, meanwhile, whether the zero searching is overtime or not is judged, and if the zero searching is not overtime, the branch is switched to be 2.2;
2.6 end of zeroing
When the 2.6.1 mechanism is normal, if the initial position of the mechanism is in the code area of 1, 3 and 4, any branch of 2.2, 2.4 and 2.5 is executed, the zero searching can be successful, and when the initial position of the mechanism is in the code area of 2, at most two branches of 2.3 and 2.4 can be successfully searched, the zero searching is finished.
2.6.2 if the mechanism or the encoder is in fault, the mechanism finally returns to zero between the 1 image area and the 3 image area for a plurality of times until the zero-searching counter is larger than the set time limit, reports the zero-searching fault of the system, and finishes zero searching.
And when the zero searching is finished, the motors stop rotating, and the zero searching result is reported to the system.
According to the mechanism, a sensor cannot be additionally installed, the mechanism cannot collide with a limiting block, and meanwhile, the logic of circularly searching for zero is adopted, so that zero can be searched for twice under the condition of failure of searching for zero for one time, and the success rate of searching for zero is increased; and the zero searching time limit is set, so that zero searching can be stopped in an over-time limit and the fault can be reported when a mechanism or an encoder fails.
Claims (4)
1. A zero searching method for incremental encoder through image area code is characterized by comprising the following steps:
step 1: selecting a proper encoder with image area codes according to the limiting range of the mechanism, and carrying out correct assembly; the image area code recorded by the selected encoder can at least divide the whole circumference into 4 areas, wherein the 2 nd image area has at least one or more zero positions, and other areas have zero positions; according to the position of a limiting block of the servo mechanism, when the encoder is installed, the non-limiting area of the mechanism is ensured to contain at least 3 image areas including 1 image area; the non-limiting area comprises 1, 2 and 3 image areas or 1, 2, 3 and 4 image areas;
step 2: position zero finding:
2.1 after zero searching is started, reading an image area where the current mechanism is located through a code disc reading head, and assigning the current image area code value to an image area code variable; simultaneously starting an over-time counter, entering a circular zero-searching mode, and respectively selecting one of four branches 2.2-2.5;
2.2 zeroth image zone position zeroing state
If the image area code variable value is 1, the mechanism rotates clockwise, whether a zero position is found is judged, if the zero position is found, the zero position is found successfully, and the motor stops rotating; if the zero position is not found, the mechanism continues to rotate clockwise until the mechanism enters a 3 rd quadrant, after the mechanism enters the 3 rd quadrant, the quadrant variable value is set to be 3, meanwhile, whether the zero searching is overtime or not is judged, and if the zero searching is not overtime, the mechanism branches to 2.4;
2.3 zeroth quadrant position seeking state
If the image area code variable value is 2, the mechanism rotates clockwise, whether a zero position is found is judged, if the zero position is found, the zero position is found successfully, and the motor stops rotating; if the zero position is not found, the mechanism continues to rotate clockwise until the mechanism enters a 3 rd quadrant, after the mechanism enters the 3 rd quadrant, the quadrant variable value is set to be 3, meanwhile, whether the zero searching is overtime or not is judged, and if the zero searching is not overtime, the mechanism branches to 2.4;
2.4 image zone 3 position zeroing state
If the image area code variable value is 3, the mechanism rotates anticlockwise, whether a zero position is found is judged, if the zero position is found, the zero position is found successfully, and the motor stops rotating; if the zero position is not found, the mechanism continues to rotate in the anticlockwise direction until the mechanism enters the No. 1 image area, after the mechanism enters the No. 1 image area, the value of the image area is set to be 1, meanwhile, whether the zero searching is overtime or not is judged, and if the zero searching is not overtime, the branch is switched to be 2.2;
2.5 No. 4 image zone position zeroing state
If the image area code variable value is 4, the mechanism rotates anticlockwise, whether a zero position is found is judged, if the zero position is found, the zero position is found successfully, and the motor stops rotating; if the zero position is not found, the mechanism continues to rotate in the anticlockwise direction until the mechanism enters the No. 1 image area, after the mechanism enters the No. 1 image area, the value of the image area is set to be 1, meanwhile, whether the zero searching is overtime or not is judged, and if the zero searching is not overtime, the branch is switched to be 2.2;
2.6 end of zeroing
2.6.1 when the mechanism is normal, if the initial position of the mechanism is in the 1 st, 3 rd and 4 th image areas, any branch of the 2.2, 2.4 and 2.5 branches can be successfully zero-searched, and when the initial position of the mechanism is in the 2 nd image area, at most two branches of the 2.3 and 2.4 branches can be successfully zero-searched, and zero searching is finished;
2.6.2 if the mechanism or the encoder fails, the mechanism finally returns to zero between the 1 st and 3 rd image areas for a plurality of times until the zero-searching counter is greater than the set time limit, reports the zero-searching failure of the system, and finishes zero-searching;
and when the zero searching is finished, the motors stop rotating, and the zero searching result is reported to the system.
2. The method of claim 1, wherein the encoder comprises an optical encoder or a magnetic encoder.
3. The method of claim 1, wherein the encoder comprises a relative encoder or a quasi-absolute encoder.
4. The method of claim 1, wherein the encoder comprises a circular encoder or a strip encoder.
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| 增量式多零点角度编码器自动寻零方法研究;麦吉 等;《宇航计测技术》;20161231;第36卷(第6期);全文 * |
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