CN109827597A - A kind of coding carrying device and position encoder apparatus - Google Patents
A kind of coding carrying device and position encoder apparatus Download PDFInfo
- Publication number
- CN109827597A CN109827597A CN201910175675.2A CN201910175675A CN109827597A CN 109827597 A CN109827597 A CN 109827597A CN 201910175675 A CN201910175675 A CN 201910175675A CN 109827597 A CN109827597 A CN 109827597A
- Authority
- CN
- China
- Prior art keywords
- signal
- coding
- code
- code area
- code channel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004458 analytical method Methods 0.000 claims description 5
- 230000005415 magnetization Effects 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 claims description 2
- 230000000737 periodic effect Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 21
- 239000000523 sample Substances 0.000 description 12
- 238000000034 method Methods 0.000 description 10
- 238000012545 processing Methods 0.000 description 9
- 125000004122 cyclic group Chemical group 0.000 description 5
- 239000003990 capacitor Substances 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000005259 measurement Methods 0.000 description 3
- 230000009466 transformation Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000003672 processing method Methods 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000005574 cross-species transmission Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000053 physical method Methods 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
Abstract
The present invention provides a kind of coding carrying devices and position encoder apparatus to realize the coding of absolute position using two code channels, first code channel encodes absolute position, second code channel generates periodic cosine and sine signal, for being finely divided to position signal, high resolution.The present invention uses a small amount of magnet-sensitive element, directly acquires the absolute position of encoder, without carrying out complicated mathematical operation, can be obtained absolute position and is finely divided, reduce the bit error rate, reduce cost.
Description
Technical field
The present invention relates to a kind of position detection measuring devices, measure more particularly to a kind of angle and straight-line displacement absolute
Formula encoder apparatus.
Background technique
The patent of invention that number of patent application is 201380012921.3 discloses a kind of magnetoelectricity position sensor arrangement, the hair
Bright patent has a code channel, while there are two magnetized areas for code channel tool, generate single signal relevant to position, pass through magnetized area
The width in domain is encoded, as shown in Figure 1.In order to obtain the absolute position signal of sensor and improve resolution ratio, need to letter
Number carry out Fourier transformation, extract absolute position signal and position segmentation signal, as shown in Figure 2.The shortcomings that patent, embodies
At two aspects: (1) in order to obtain accurate position signal, more sensing elements being needed to be acquired position；(2) absolutely
The acquisition of position and subdivision position signal needs to carry out Fourier transformation to acquisition signal, and more mathematical calculation process reduce
The accuracy that position calculates, the bit error rate is high, while the better microprocessor of performance being needed to be calculated, and increases cost.
The patent of invention that number of patent application is 200480031279.4 discloses a kind of magnetic encoder device and actuator,
The patent of invention has a magnetic code channel 1, as shown in figure 3, the pole N and the pole S of code channel are alternately arranged, the logarithm of the pole NS is more than or equal to
1, N pole and the pole S are along axial parallel magnetization.The sensing element (number 2 indicates in figure) of the magnetic encoder device has 4, interval
90 degree of arrangements generate the sinusoidal signal that phase difference is 90 degree, as shown in Figure 4.Signal processing circuit is to 90 degree of phase difference of sine
Signal is decoded, output angle signal.The patent disadvantage major embodiment is as follows: (1) when the number of magnetic pole pairs of NS be greater than 1,
The absolute position of encoder cannot be obtained when decoding, bring certain inconvenience for the starting of motor；(2) when the number of pole-pairs of the pole NS
When being 1, although the absolute position of encoder can be obtained, due to the signal-to-noise ratio problem of processing circuit, it is difficult to obtain high-resolution
The decoding of rate.
Summary of the invention
The technical problems to be solved by the invention: the precision of the position coder of the prior art cannot be taken into account with cost.
In order to solve the above-mentioned technical problems, the present invention provides a kind of novel position coders, real using two code channels
The coding of existing absolute position；Wherein, the first code channel encodes absolute position, and the second code channel generates periodic sine and cosine letter
Number, for being finely divided to absolute position signal.Specific technical solution is as follows:
The first aspect of the present invention provides a kind of coding carrying device, including at least the first code area and the second coding
Area；
First code area provides N number of absolute location information, and N is integer and >=2；
Second code area is subdivided into N number of repeated encoding area being repeated cyclically, corresponding first coding in each repeated encoding area
The absolute location information that area provides；Each repeated encoding area provides the subdivision location information of an absolute location information.
Further, the arrangement shape and relative position of the first code area and second code area are according to following (1) or (2)
Mode configures:
(1) first code area is according to the first circular arrangement, and second code area is according to the second circular arrangement, first round and the second circle
Just as the heart, alternatively, the first circular center of circle is overlapped in the second round projection in the plane with the second circular center of circle；
(2) first code areas are arranged according to first straight line section, and second code area is arranged according to second straight line section, and first straight line section
It is parallel with second straight line section.
Further, the first code area provides different at least first kind signal and Second Type signal, the first kind
Signal and Second Type signal are combined into coding for providing N number of absolute location information.
Further, several first kind signals and Second Type signal are in a manner of pseudo-random sequence, gray encoding
One of mode or normal binary coding mode are combined coding, for providing absolute location information.
Further, first kind signal and Second Type the signal magnetic signal that be polarity different, alternatively, being that polarity is identical
But magnetic signal of different strengths and weaknesses.
Further, the first code area includes the magnet in following (1) or (2):
(1) multiple split type magnets；
(2) first monomer-type magnets carry out polarity difference or power not in the different parts of the first monomer-type magnet
Same magnetization.
Further, first kind signal and Second Type signal are different electric signal, optical signal or apart from letter respectively
Number.
Further, the different location in each repeated encoding area of second code area provides different amplitude signals.
Further, repeated encoding area provides sinusoidal signal, cosine signal or linear signal.
Further, second code area includes the magnet in following (1) or (2):
(1) several pole N magnets are successively arranged alternately with the pole S magnet, and each pole N magnet is separated with each pole S magnet；
(2) second comonomer formula magnets, with the successively alternate pole N magnetic area and the pole S on second comonomer formula magnet
Magnetic area.
Further, second code area generates periodically variable signal, is used as reading the absolute of the first code area
The trigger signal of location information.
The second aspect of the present invention provides a kind of position encoder apparatus, comprising:
The coding that above-mentioned first aspect provides carries device；
Coding recognition module for identification and reads absolute location information and subdivision position letter that coding carrying device provides
Breath；
Code analysis module, for calculating the absolute location information and subdivision position letter that analysis of encoding recognition module is read
Breath.
Further, coding recognition module includes that two groups of codings distinguish unit, and coding recognition unit is compiled for reading first
The signal in code area, two groups of coding recognition units configure in the way of following (1) or (2):
(1) if the first code area is according to the first circular arrangement, two groups of coding recognition units are arranged according to arc；Two groups of coding recognitions
Respectively center line intersection in the angle that the center of circle of arc is formed is defined as the first angle to unit, second code area it is two neighboring heavy
The multiple code area angle that respectively center line is crossed to form is defined as the second angle；The size of first angle is the second corner dimension
(A+1)/2 times, A is even number and >=0；
(2) if the first code area is arranged according to first straight line section, two groups of coding recognition units are arranged according to third straightway；Two groups
Coding recognition unit respectively central point distance definition be first distance, the two neighboring repeated encoding area of second code area is respectively
The distance definition of central point is second distance；The size of first distance is second distance size (B+1)/2 times, B be even number and
≥0。
Further, B≤4.
The beneficial effects of the present invention are:
(1) two code channels are used, realize that the coding of absolute position, the first code channel encode absolute position, second code
Road generates periodic cosine and sine signal, for being finely divided to absolute position signal, high resolution；
(2) absolute position that encoder is directly acquired using a small amount of magnet-sensitive element, without carrying out complicated mathematics fortune
It calculates, can be obtained absolute position and be finely divided, reduce the bit error rate, reduce cost.
Detailed description of the invention
Fig. 1 is first arrangement schematic diagram of magnet of different size on code channel in the prior art；
Fig. 2 is first schematic diagram handled in the prior art acquisition signal；
Fig. 3 is the structural schematic diagram of second magnetoelectricity position coder in the prior art；
Fig. 4 is the schematic diagram of second signal acquisition in the prior art；
Fig. 5 is the overall structure diagram of position coder in first embodiment of the invention；
Fig. 6 is the structural schematic diagram of code-disc in first embodiment of the invention；
Fig. 7 is the arrangement schematic diagram of magnet-sensitive element in first embodiment of the invention；
Fig. 8 is the signal phase relational graph that magnet-sensitive element generates in first embodiment of the invention；
Fig. 9 is the schematic diagram for carrying out absolute position subdivision in first embodiment of the invention by cosine and sine signal；
Figure 10 is the structural schematic diagram that code-disc does not mount magnetic patch in first embodiment of the invention；
Figure 11 is the connection schematic diagram of sensing element and decoding system in first embodiment of the invention；
Figure 12 is the working principle diagram of level switch module in first embodiment of the invention；
Figure 13 is the schematic diagram that difference turns single-ended signal processing in first embodiment of the invention；
Figure 14 is the overlooking structure diagram of code-disc in second embodiment of the invention；
Figure 15 is the structural schematic diagram of straight line code channel in third embodiment of the invention；
Figure 16 is the structural schematic diagram of capacitor code-disc and code channel in four embodiment of the invention；
Figure 17 is the partial structural diagram of the second code channel and third code channel in fifth embodiment of the invention；
Figure 18 is the schematic diagram that Gray code is used in sixth embodiment of the invention.
Appended drawing reference is as follows:
1 magnetic code channel
2 sensing elements
100 code-discs
101 first code channel grooves
102 second code channel grooves
103 code-disc mounting holes
110~114 first code channels
120~125 second code channels
135 third code channels
200 sensing elements
220a sine sensing element
220b cosine sensing element
211~212 sensing elements (the first code channel of matching)
221~223 sensing elements (the second code channel of matching)
233 sensing elements (matching third code channel)
300 decoding systems
311 level switch modules
312 difference turn single-ended block
313 difference turn single-ended block
320 microprocessors
321 numeral inputs/output module
322 analog-to-digital converting modules
323 random decoder modules
324 subdivision modules
325 position output modules
Specific embodiment
It is described further below with reference to technical effect of the attached drawing to design of the invention, specific structure and generation, with
It is fully understood from the purpose of the present invention, feature and effect.
Unless otherwise defined, claims of this patent and technical term or scientific term used in the description
It should be the ordinary meaning that the personage in this patent technical field with general technical ability is understood.This specification and right
" first ", " second " used in claim and similar word are not offered as any sequence, quantity or importance, and
It is used only to distinguish different component parts.The similar word such as "one" or " one " is not offered as quantity limitation, but indicates
There are at least one.In the description of this patent, unless otherwise indicated, the meaning of " plurality " is two or more." packet
Including " element or object that the similar word such as either " there is " to mean to appear in front of " comprising " or " having " cover appearance
In the element or object and its equivalent element of " comprising " or " having " presented hereinafter, it is not excluded that other elements or object
Part.
Embodiment 1
A kind of magnetoelectricity absolute encoder device based on pseudo-random sequence is present embodiments provided, as shown in figure 5, coding dress
Set and be divided into two parts: a part is code-disc 100, and another part is sensing element 200 and decoding system 300.Under normal circumstances, code
Disk 100 is rotated with electric machine rotational axis, and sensing element 200 and decoding system 300 are fixed, when code-disc 100 and decoding system 300
Between when generating relative motion, sensing element 200 can sense the variation in magnetic field, and decoding system 300 is according to the variation meter in magnetic field
Calculate the absolute position where code-disc 100.The first code channel 110 and the second code channel 120 are carried on code-disc 100.Code-disc 100 includes it
On first yard 110 and the second code channel 120, constitute coding carrying device.
Fig. 6 illustrates the structure chart of code-disc in the present embodiment, and code-disc has the first code channel 111 and the second code channel 121, and first
Circle where code channel 111 and the second code channel 121 is concentric.Round radius can be designed selection according to code-disc size, can be
The radius of first code channel 111 is greater than the radius of the second code channel 121, i.e. the first code channel 111 is in outer ring, and the second code channel 121 is in inner ring；
The radius for being also possible to the second code channel 121 is greater than the radius of the first code channel 111, i.e., the first code channel 111 is in inner ring, the second code channel
121, in outer ring, arrange as shown in Figure 6.The radius of circle cannot be got too close to where two code channels, to guarantee the first code channel
The distance between 111 and 121 magnetic patch of the second code channel, it is ensured that the magnet-sensitive element of the first code channel 111 and the second code channel 121 is not by another
The influence in outer code channel magnetic patch magnetic field.
First code channel and the second code channel can also be arranged in two surfaces of code-disc, i.e., one in front, one
Reverse side；Correspondingly, sensing element also needs correspondence to be not arranged at code-disc two sides.At this point, still needing to guarantee the first code channel and the second code channel
The center of circle all on the axis of code-disc.
As shown in Figure 10, the processing method of the first code channel 111 and the second code channel 121 includes the following steps:
(1) the magnetic patch size of the first code channel 111 and the second code channel 121 is calculated, the processing of magnetic patch is obtained by being machined；
(2) magnetic patch after processing is completed, magnetizes to magnetic patch, and the magnetizing direction of magnetic patch is axial charging；
(3) carrier (i.e. code-disc ontology) of magnetic patch is completed by machining, and the with magnetic patch equidimension is processed on carrier
One code channel groove 101 and the second code channel groove 102, for placing magnetic patch.The benefit of processing groove is: on the one hand can guarantee magnetic
The precision of block attachment；On the other hand, code-disc 100 can make magnetic patch stronger when rotating at high speed, reduce centrifugal force to magnetic patch
Effect.3 code-disc mounting holes 103 are also machined on code-disc.
(4) first code channels 111 mount magnetic patch according to pseudorandomcode, and the pole the N magnetic patch and S machine magnetic patch of the second code channel 121 are handed over
For attachment.
First code channel 111 is by pseudorandom sequence coding, and according to the principle of pseudorandom sequence coding, sequence is by primitive polynomial
It generates.Primitive polynomial assumes initially that the initial value of a sequence, the rear one-bit digital of sequence is according to former when generating sequence
Position and primitive polynomial generate.If one circumference is divided into 4 parts of sections when coding, the cyclic sequence (2 of 4 bit digitals will be generated2),
Represent a section altogether per two adjacent hytes, for example sequence is 1100, is respectively 11,10,00,01 per adjacent two,
Each combination represents a section, and such circumference can be expressed as 4 sections, and one section of every rotation encodes digital group
It closes and changes once.If a circumference is divided into 8 parts of sections, the cyclic sequence (2 of 8 bit digitals will be generated3), per adjacent 3
It combines and represents a section；If a circumference is divided into 16 parts of sections, the cyclic sequence (2 of 16 bit digitals will be generated4),
A section is represented altogether per 4 adjacent hytes.If a circumference is divided into 32 parts of sections, following for 32-bit number will be generated
Ring sequence (25), a section is represented altogether per 5 adjacent hytes.And so on, if a circumference is divided into 2nPart area
Between, 2 will be generatednThe cyclic sequence (2 of bit digitaln), a section is represented altogether per adjacent n hyte.Circulation mentioned here
Sequence refers to that sequence is end to end.
First code channel 111 when being designed, the pole N represent the number pole 1, S represent the number pole 0 or N represent number 0, S
Pole represents number 1.For having 2nThe cyclic sequence of a number needs 2nA magnetic patch, this 2nThe polarity of a magnetic patch can be according to following
The number of ring sequence determines that the magnetizing direction of magnetic patch is parallel to axial direction, or be parallel to the radial direction of code-disc.Radial magnetizing
When, it is continuous sine curve in axial certain altitude magnetic field strength.
Second code channel 121 is the magnetic patch that the pole N and the pole S are arranged alternately, and the magnetizing direction of magnetic patch is parallel to axial direction, magnetic patch
Size need to guarantee that in the in axial direction magnetic field strength caused by the magnetic patch certain distance magnetic patch be sine curve, with
Improve the precision of code-disc subdivision.In this way when code-disc rotate when, the second code channel axial direction apart from magnetic patch certain altitude magnetic field
Intensity is sinusoidal periodic signal, and there are two effects for this periodic signal: (1) clock signal is used as, when sinusoidal signal is through zero crossing
When read the encoded signal of the first code channel；(2) as the subdivision's signal of code-disc, to absolute position area in the first code channel 121
Between be finely divided, obtain higher position resolution.
First code channel 111 and the second code channel 121 have certain status requirement, i.e. the second pole code channel N to the pole S in layout
The middle position of middle position or the pole S to the pole N will be aligned in radial directions with the magnetic patch center of the second code channel 121,
The magneto sensor of the first code channel 111 is mentioned in the strongest position in 111 magnetic field of the first code channel when guaranteeing to read absolute encoder every time
The signal-to-noise ratio of high first code channel, 111 signal.
Sensing element 200 and decoding system 300 are close to code-disc 100, for a circumference is divided into 16 parts of sections.It is sensitive
The layout of element 200 needs to follow following principle:
(1) for the circle where the magnetic patch of circle and the first code channel 111 where the magnet-sensitive element of the first code channel 111 211
Coaxially.It is coaxial for the circle where the magnetic patch of circle and the second code channel where the magnet-sensitive element 221 of the second code channel 121.Two
Circle in circle and code-disc 100 where the magnet-sensitive element of code channel where code channel has a certain distance in the axial direction, guarantees magnetic
The signal that sensing element 211 and 221 detects does not spill over and has certain intensity, to guarantee signal-to-noise ratio.
The angular interval of the corresponding magnet-sensitive element of magnetic patch of (2) first code channels 111 is 360 degree/2n, continuous to arrange.With Fig. 7
For, the angular interval of magnet-sensitive element is 360/16=22.5 degree.
The corresponding magnet-sensitive element quantity of the magnetic patch of (3) second code channels 121 is 2 or 4, when only there are two sensing elements
When, the angular interval of two sensing elements is (360/ (4*2n))+N*(360/2n), N=0,1,2,3 ... ....Angular interval is 360/
64+N* (360/16), A1 and A2 in corresponding diagram 7, the electric signal that two such magnet-sensitive element is formed are 90 degree of phase difference
Sinusoidal signal.When magnet-sensitive element has 4, in the reversed polarity location arrangements A3 and A4 for respectively corresponding A1 and A2, such A1 and
The electric signal that A3 is formed is differential signal, and the electric signal that A2 and A4 are formed is differential signal, improves the anti-interference energy of signal transmission
Power and signal amplitude, differential signal obtain the single-ended signal for being suitble to microprocessor to acquire using processing, in addition, corresponding second code
Road 121 is arranged 4 magnet-sensitive elements 221 and is also beneficial to improve the precision of code-disc, slackens since magnetic patch mounts bring error.
(4) for the magneto sensor A1 or A2 of the second code channel and any one the magneto sensor phase for being directed to the first code channel
Difference (360/ (2*2n)), when guaranteeing signal A1 or A2 zero passage, B1, B2, B3 and B4 are in the strongest position in magnetic field.
With the magnet-sensitive element that this principle is arranged, the phase relation of the electric signal eventually formed is as shown in Figure 8.In second code
The first code channel sequential value is acquired when the sin signal zero passage that road generates, the signal that such second code channel generates is as first yard of reading
The trigger signal of road value guarantees the accuracy of signal-obtaining.
From figure 8, it is seen that the corresponding angle in one section of the first code channel is that 121 1 sinusoidal cycles of the second code channel are corresponding
Angle it is consistent, therefore can use sinusoidal signal and cosine signal further the angle in one section of the first code channel is carried out it is thin
Point, obtain the higher angle signal of resolution ratio.Divided method schematic diagram is as shown in figure 9, first according to sin signal and cos signal
Symbol and absolute value size, the signal of a cycle is divided into 8 sections, realizes 23Subdivision.It can from half figure of the right side of Fig. 9
To find out, in each section, tan or cot value is approximately linear, therefore can be calculated according to collected sin value and cos value
Tan value or cot value out, to further be segmented to each section.If point of analog/digital conversion used by decoding system
Resolution is N, then entirely the resolution ratio of decoding system is (n+3+N).
Below again by taking 16 pseudo-random sequences as an example, illustrate the embodiment of magnetoelectricity code-disc decoding system 300.Magnetic susceptibility member
Part uses the variation of Hall element induced magnetic field.As shown in figure 11, for the first code channel 111 magneto sensor 210 need 4,4
A magnet-sensitive element is continuously arranged on the same circle, interval angles 360/16.Second code channel needs 4 magnet-sensitive elements,
Every 2 magneto sensors partner, and wherein 220a incudes sin signal, and 220b incudes cos signal.2 magneto sensors of one centering
180 degree is differed on magnetic phase.
In order to improve the magnet-sensitive element that the position precision (be different from resolution ratio) of code-disc measurement can have more than 1 group, such as 2
Group or 3 groups, even more multiple groups are acquired and decode to code-disc signal, carry out at comprehensive analysis to every group of decoded positional value
Reason, for example be averaging, the position precision of code-disc system can be improved.Magnet-sensitive element is as coding recognition unit, two groups of magnetosensitives
Sensing unit i.e. two group coding distinguishes unit.
What the arrangement and the present invention of two groups of codings recognition unit were paid close attention to.Two groups of coding recognition units are according to arc-like rows
Cloth, the intersection of respective center line are defined as the first angle in the angle that the center of circle of arc is formed, second code area it is two neighboring
The repeated encoding area angle that respectively center line is crossed to form is defined as the second angle, it is desirable that the size of the first angle is the second angle
(A+1)/2 times of size, A are even number and >=0.What the one repeated encoding area i.e. pole a N magnetic patch was occupied plus the pole a S magnetic patch
Position.If only one group of coding recognition unit is for reading the first code channel, initial position is among two absolute positions, Wu Fali
Work normally.Two groups of settings are in order to avoid drawbacks described above as the present invention.
Pass through level switch module 311, level switch module for 210 output signal of magnet-sensitive element of the first code channel
311 are mainly made of comparator, and when through zero crossing, if hall signal changes, comparator output signal will be inverted,
The low and high level signal of rule is exported after comparator, is acquired convenient for microprocessor 320, as shown in figure 12.
For the signal of the magnet-sensitive element 220a and 220b of the second code channel, turn single-ended block by difference respectively first
Signal, is converted to the collectable signal of microprocessor 320 by 312 and 313 processing.By taking sin signal as an example, difference turns single-ended and shows
Example diagram is as shown in figure 13, and the amplitude of signal can also double after difference turns single-ended.
Numeral input/output module 321 reads the signal of four Hall elements generation, exists every time in microprocessor 320
When sin signal zero-crossing, four absolute position values of the first code channel 111 are read, by tabling look-up in pseudorandom decoder module 323
Mode reads the absolute position section where code-disc.
The single-ended signal of second code channel first passes through analog-to-digital converting module 322 and is converted into digital signal, then is input to micro-
Processor 320, microprocessor 320 are acquired sin signal and cos signal, according to method above-mentioned in subdivision module 324
It is finely divided.
In the absolute position values and subdivision module 324 obtained in position output module 325 to pseudorandom decoder module 323
To subdivision positional value integrated, obtain the final absolute position values of decoding system.
Embodiment 2
First preferred embodiment of the invention is elaborated in detail above.First code channel and the second code channel of the invention, forever
Magnet can also use magnet ring in addition to using discrete magnetic patch, carry out multipolarity to magnet ring when magnetizing and magnetize, such as Figure 14 institute
Show.Processing method is as follows:
(1) magnet ring of the first code channel 112 and the second code channel 122 is processed according to design size first；
(2) multipolarity is carried out to magnetic pole according to pseudorandom sequence coding to the first code channel 112 to magnetize；
(3) multistage is carried out according to the width of the pole N and the pole S to the second code channel 122 to magnetize；
(4) magnet ring is mounted, when mounting magnet ring, according to the first code channel required in one embodiment and the second code channel magnetic
The relative position of pole is mounted.
Magnet-sensitive element and its working method in the present embodiment with it is identical in embodiment 1, repeat no more.
Embodiment 3
Position encoder apparatus of the invention not only may be implemented coding and the measurement of angle, can also realize straight line position
The coding of shifting and measurement, as shown in figure 15.First code channel 113 and the second code channel 123 are all arranged in the magnetic patch that code takes by straight line
It constitutes, for the first code channel 113 with pseudorandom sequence coding, the second code channel 123 is also the pole N being arranged alternately and S grades of magnetic patch.Magnetic susceptibility
The also linearly arrangement of element 212, for detecting the magnetic signal of the first code channel 113.The also linearly arrangement of magnet-sensitive element 222, is used
In the magnetic signal for detecting the second code channel 123.First code channel 113 provides absolute position signal, and the second code channel 123 is absolute to this again
Position signal is finely divided, and essentially identical in same first preferred embodiment of principle, details are not described herein again.
The magnet-sensitive element 212 for reading the first code channel 113 is also possible to two groups, and two groups of codings distinguish units respectively central point
Distance definition be first distance, the two neighboring repeated encoding area of second code area respectively central point distance definition be second
Distance；The size of first distance is second distance size (B+1)/2 times, and B is even number and >=0.Two groups of two groups of codings recognitions are single
Member solves the problems, such as identical as in embodiment 1.But in the present embodiment, the arrangement of code channel straight line, two groups of coding recognition units are not
Can be apart from too far, otherwise the effective use length of the second code channel is smaller.It is subjected to as B≤4, two codings distinguish unit center
The distance of position is 2.5 times of 1 repeated encoding area (a NS siding-to-siding block length).
Embodiment 4
The coding and decoding methods of this patent, are realized except through magnetic element and magnet-sensitive element, can also be led to
The realization of other physical methods is crossed, for example is realized by the method for capacitor.Code-disc surface can be machined into the face of convex-concave, such as
First code channel is according to the sequence of pseudorandomcode, and protrusion expression number 1, concave expression number 0, the second code channel can process just
The surface of string variation.The variation on surface can be detected using capacitance probe, capacitance probe can detecte to the convex of the first code channel and
Recessed and the second code channel sinusoidal variations surface, so as to realize coding and decoding.
Capacitive scheme is as shown in figure 16, and the first code channel 114 is absolute encoder code channel, processes the first code channel according to encoded radio
Surface texture shape.When a certain position of coding is high level, groove shapes are processed as, a certain position does not process recessed when being low level
Slot, or it is opposite.The surface of second code channel is the alternate continuous sinusoidal surface structure of convex-concave.First code channel 114 and the second code channel
124 need to guarantee enough finish in processing.
Capacitance probe is placed respectively in the top of the first code channel 114 and the second code channel 124.For the first code channel 114, one week
It is divided into the section 2n, needs n probe, the spacing of probe is the width of a coding.For the second code channel 124, top can be put
Setting 2 or 4 probes is one group, can also place multiple groups probe to improve precision, the spacing reference in every group between each probe
The spacing of magnet-sensitive element in embodiment 1.
Probe is at regular intervals with code channel in the axial direction.Capacitor is formed between each probe and code channel, probe is fixed
It is constant.When code-disc rotation, the capacitance that capacitor is formed between probe and code-disc can change, can be electricity by circuit transformations
The variation of capacitance is converted to the variation of voltage value.Such first code channel exports absolute position signal, and the second code channel forms sine and cosine
Signal is finely divided position signal.
The variation on code-disc surface can also be detected by laser displacement sensor, at this time the second code channel be no longer be bent
Face, but many inclined-planes alternately changed, provide distance signal, this signal is linear signal.It can also be the variation on surface
It is converted into the variation etc. of resistance.
Embodiment 5
The embodiment of this patent can also use the case where more than two code channel, and the first code channel is absolute encoder code channel,
Second code channel is subdivision code channel, and third code channel further segments the signal of the second code channel.By taking the encoder using magnetoelectricity as an example,
The coding of first code channel is as shown in figure 17 with the relationship that other schemes, the second code channel and third code channel magnetic patch arrange.In second code
125 1 NS magnetic cycle phases of road can place the NS signal in multiple periods, can be 2,4,8 periods, second in Figure 17
The a cycle of code channel placed the NS signal in 8 periods, i.e. third code channel 135.
Magnet-sensitive element 223 is used to acquire the magnetic signal of the second code channel 125, and magnet-sensitive element 233 is for acquiring third yard
The magnetic signal in road 135.In a signal period of the second code channel 125, third code channel 135 generates 8 periodic signals, the second code channel
The absolute position section of 125 pair of first code channel carries out 8 times of subdivisions, and A/D conversion is acquired third code channel 135, in this way
The resolution ratio of encoder improves 3 relative to the encoder of only 2 code channels, such as resolution ratio 19 of two code channels, and three
22 resolution ratio may be implemented in a code channel.
Embodiment 6
In above five implementation, the first code channel all uses pseudo-random sequence mode to encode, this is a kind of very efficient
Coding mode can distinguish more absolute position using few numerical digit.For example, the pseudorandom sequence used in embodiment 1
Column, it is only necessary to which 16 magnetic patch can distinguish 16 absolute positions.
It, can also be using other coding modes such as normal binary coding, gray encodings in addition to pseudo-random sequence mode.
Wherein, Gray code is more preferred scheme.Figure 18 illustrates the schematic diagram of Gray code, is applied to the first code channel of the invention,
Black portions can arrange that the pole N magnetic patch, white portion can arrange the pole S magnetic patch, or opposite.4 magnetic in each sector
Block provides the signal of an absolute position, needs 64 magnetic patch that could distinguish 16 absolute positions altogether in this way.Correspondingly, sensitive member
Part also corresponds to the radial direction arrangement in code-disc.
This patent realizes the coding of absolute position using two code channels, and structure is simple, and leads to too small amount of magnet-sensitive element
The absolute position that code disc device can be directly obtained does not need complicated mathematical operation；Two code channel complementations of code-disc, first yard
Road provides absolute position for code-disc system, and the second code channel provides the clock signal for reading the first code channel for code-disc system, it is ensured that reads
The reliability taken, while the second code channel signal is used to further segment absolute position signal, obtains the position of higher resolution
Signal.On the one hand this patent improves the accuracy of code-disc system position output, reduce the bit error rate, on the other hand do not need complexity
Mathematical operation, hardware cost can reduce.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that those skilled in the art without
It needs creative work according to the present invention can conceive and makes many modifications and variations.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical solution, all should be within the scope of protection determined by the claims.
Claims (14)
1. a kind of coding carries device, which is characterized in that including at least the first code area and second code area；
First code area provides N number of absolute location information, and N is integer and >=2；
The second code area is subdivided into N number of repeated encoding area being repeated cyclically, described in each repeated encoding area is corresponding
The absolute location information that first code area provides；Each repeated encoding area provides the absolute position letter
The subdivision location information of breath.
2. a kind of coding according to claim 1 carries device, which is characterized in that first code area and described second
The arrangement shape of code area and relative position configure in the way of following (1) or (2):
(1) according to the first circular arrangement, the second code area is round according to the second circular arrangement, described first for first code area
With second circular shape concentric, alternatively, the first circular center of circle is in the described second round projection and institute in the plane
The second circular center of circle is stated to be overlapped；
(2) first code area is arranged according to first straight line section, and the second code area is arranged according to second straight line section, and described the
One straightway is parallel with the second straight line section.
3. a kind of coding according to claim 2 carries device, which is characterized in that first code area provides different
At least first kind signal and Second Type signal, the first kind signal are combined into coding for mentioning with Second Type signal
For N number of absolute location information.
4. a kind of coding according to claim 3 carries device, which is characterized in that several described first kind signals with
The Second Type signal in a manner of pseudo-random sequence, one of gray encoding mode or normal binary coding mode into
Row assembly coding, is used to provide the described absolute location information.
5. a kind of coding according to claim 3 carries device, which is characterized in that the first kind signal and described the
Two type signals are the different magnetic signals of polarity, alternatively, being that polarity is identical but magnetic signal of different strengths and weaknesses.
6. a kind of coding according to claim 5 carries device, which is characterized in that first code area includes following
(1) or the magnet in (2):
(1) multiple split type magnets；
(2) first monomer-type magnets carry out polarity difference or power not in the different parts of the first monomer-type magnet
Same magnetization.
7. a kind of coding according to claim 3 carries device, which is characterized in that the first kind signal and described the
Two type signals are different electric signal, optical signal or distance signal respectively.
8. a kind of coding according to claim 2 carries device, which is characterized in that each of described second code area is described
Different location in repeated encoding area provides different amplitude signals.
9. a kind of coding according to claim 8 carries device, which is characterized in that the repeated encoding area provides sinusoidal letter
Number, cosine signal or linear signal.
10. a kind of coding according to claim 9 carries device, which is characterized in that the second code area includes following
(1) or the magnet in (2):
(1) several pole N magnets are successively arranged alternately with the pole S magnet, each pole N magnet and each pole S magnet point
From；
(2) second comonomer formula magnets, with the successively alternate pole N magnetic area and the pole S on the second comonomer formula magnet
Magnetic area.
11. a kind of coding according to claim 2 carries device, which is characterized in that the second code area generates the period
Property variation signal, be used as reading the trigger signal of the absolute location information of first code area.
12. a kind of position encoder apparatus characterized by comprising
Any one of claim 2~11 coding carries device；
Coding recognition module for identification and reads the absolute location information that the coding carrying device provides and described thin
Divide location information；
Code analysis module, for calculating the absolute location information and the subdivision analyzing the coding recognition module and read
Location information.
13. a kind of position encoder apparatus according to claim 12, which is characterized in that the coding distinguishes module and includes
Two groups of codings distinguish unit, and the coding recognition unit is used to read the signal of first code area, encodes and know described in two groups
Unit is read to configure in the way of following (1) or (2):
(1) if first code area is according to first circular arrangement, coding recognition unit described in two groups is arranged according to arc；Two groups
Respectively center line intersection in the angle that the center of circle of the arc is formed is defined as the first angle to the coding recognition unit, and described the
The two neighboring repeated encoding area angle that respectively center line is crossed to form of two code areas is defined as the second angle；Described
The size of one angle is second corner dimension (A+1)/2 times, and A is even number and >=0；
(2) if first code area is arranged according to first straight line section, coding recognition unit described in two groups is arranged according to third straightway；
Described in two groups coding recognition unit respectively central point distance definition be first distance, the two neighboring institute of the second code area
State repeated encoding area respectively central point distance definition be second distance；The size of the first distance is that the second distance is big
Small (B+1)/2 times, B are even number and >=0.
14. a kind of position encoder apparatus according to claim 13, which is characterized in that B≤4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910175675.2A CN109827597A (en) | 2019-03-08 | 2019-03-08 | A kind of coding carrying device and position encoder apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910175675.2A CN109827597A (en) | 2019-03-08 | 2019-03-08 | A kind of coding carrying device and position encoder apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109827597A true CN109827597A (en) | 2019-05-31 |
Family
ID=66865757
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910175675.2A Pending CN109827597A (en) | 2019-03-08 | 2019-03-08 | A kind of coding carrying device and position encoder apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109827597A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111982164A (en) * | 2020-08-05 | 2020-11-24 | 陶丹 | Multi-track sector positioning off-axis absolute value encoder |
| CN112947895A (en) * | 2021-01-28 | 2021-06-11 | 长春汇通光电技术有限公司 | Position reading obtaining method, position reading obtaining device, encoder and storage medium |
| CN113124910A (en) * | 2020-01-14 | 2021-07-16 | 株式会社三丰 | Rotary encoder |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1489387A1 (en) * | 2003-06-19 | 2004-12-22 | Codechamp S.A. | Interpolation method for high resolution angular encoder and corresponding optical encoder |
| JP2006329888A (en) * | 2005-05-27 | 2006-12-07 | Fanuc Ltd | Magnetometric sensor |
| CN102868279A (en) * | 2012-09-12 | 2013-01-09 | 沈阳市蓝光自动化技术有限公司 | Magnetic rotary encoder of low speed electromotor |
| JP2013096706A (en) * | 2011-10-28 | 2013-05-20 | Mitsubishi Electric Corp | Method for bonding by photocurable adhesive and optical rotary encoder using the same |
| CN105300260A (en) * | 2014-06-12 | 2016-02-03 | 株式会社三丰 | Absolute position encoder scale having plates alternating with varying recesses |
| CN105627921A (en) * | 2015-12-18 | 2016-06-01 | 佛山轻子精密测控技术有限公司 | Absolute encoder subdivision acquisition system and measurement method thereof |
| US20180231400A1 (en) * | 2017-02-14 | 2018-08-16 | Nidec Sankyo Corporation | Rotary encoder and absolute angular position detection method thereof |
| CN109341545A (en) * | 2018-11-16 | 2019-02-15 | 广州市精谷智能科技有限公司 | A kind of absolute position displacement sensor grating absolute position encoder and interpretation method |
| CN209639732U (en) * | 2019-03-08 | 2019-11-15 | 溱者(上海)智能科技有限公司 | A kind of coding carrying device and position encoder apparatus |
-
2019
- 2019-03-08 CN CN201910175675.2A patent/CN109827597A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1489387A1 (en) * | 2003-06-19 | 2004-12-22 | Codechamp S.A. | Interpolation method for high resolution angular encoder and corresponding optical encoder |
| JP2006329888A (en) * | 2005-05-27 | 2006-12-07 | Fanuc Ltd | Magnetometric sensor |
| JP2013096706A (en) * | 2011-10-28 | 2013-05-20 | Mitsubishi Electric Corp | Method for bonding by photocurable adhesive and optical rotary encoder using the same |
| CN102868279A (en) * | 2012-09-12 | 2013-01-09 | 沈阳市蓝光自动化技术有限公司 | Magnetic rotary encoder of low speed electromotor |
| CN105300260A (en) * | 2014-06-12 | 2016-02-03 | 株式会社三丰 | Absolute position encoder scale having plates alternating with varying recesses |
| CN105627921A (en) * | 2015-12-18 | 2016-06-01 | 佛山轻子精密测控技术有限公司 | Absolute encoder subdivision acquisition system and measurement method thereof |
| US20180231400A1 (en) * | 2017-02-14 | 2018-08-16 | Nidec Sankyo Corporation | Rotary encoder and absolute angular position detection method thereof |
| CN109341545A (en) * | 2018-11-16 | 2019-02-15 | 广州市精谷智能科技有限公司 | A kind of absolute position displacement sensor grating absolute position encoder and interpretation method |
| CN209639732U (en) * | 2019-03-08 | 2019-11-15 | 溱者(上海)智能科技有限公司 | A kind of coding carrying device and position encoder apparatus |
Non-Patent Citations (1)
| Title |
|---|
| 郝双晖;刘勇;郝明晖;: "绝对式多极磁电轴角编码器的设计", 光学精密工程, vol. 18, no. 04, 15 April 2010 (2010-04-15), pages 863 - 871 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113124910A (en) * | 2020-01-14 | 2021-07-16 | 株式会社三丰 | Rotary encoder |
| CN113124910B (en) * | 2020-01-14 | 2023-12-29 | 株式会社三丰 | Rotary encoder |
| CN111982164A (en) * | 2020-08-05 | 2020-11-24 | 陶丹 | Multi-track sector positioning off-axis absolute value encoder |
| CN112947895A (en) * | 2021-01-28 | 2021-06-11 | 长春汇通光电技术有限公司 | Position reading obtaining method, position reading obtaining device, encoder and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108426588B (en) | Rotary encoder and absolute angle position detection method thereof | |
| CN109827597A (en) | A kind of coding carrying device and position encoder apparatus | |
| CA2337920C (en) | Accurate rotor position sensor, method using magnet ring and linear output hall effect sensors | |
| EP3161420B1 (en) | Rotation angle measuring apparatus and measuring method | |
| EP2028450A2 (en) | Position sensor | |
| CN106706012B (en) | Coding disk, photoelectric measuring angular encoder and its working method using the coding disk | |
| EP2527796B1 (en) | Capacitive rotary encoder and method for sensing a rotation angle | |
| CN111398628B (en) | Motor rotating speed direction measuring device and measuring calculation method thereof | |
| CN209639732U (en) | A kind of coding carrying device and position encoder apparatus | |
| CN201780116U (en) | Photoelectric encoder for detecting rotation speed and rotation angle of rotating objects | |
| CN103925933A (en) | Multi-circle absolute magnetic encoder | |
| CN106225813B (en) | Encoder magnetic steel structure, encoder and window remainder interval judgement correction algorithm | |
| CN206339246U (en) | A kind of high-precision rotating speed and rotation absolute angular position measurement sensor | |
| CN113028975B (en) | Inductive encoder | |
| CN101010565A (en) | Arrangement comprising a magnetic field sensor | |
| CN203203607U (en) | Multi-loop absolute magnetic encoder | |
| CN112117079B (en) | Encoder magnet structure, encoder, motor, electrical equipment and vehicle | |
| US6515471B1 (en) | Absolute position hall string sensor | |
| CN102868279A (en) | Magnetic rotary encoder of low speed electromotor | |
| CN110345976A (en) | A kind of optomagnetic hybrid coder system | |
| CN111982164B (en) | Multi-track sector positioning off-axis absolute value encoder | |
| CN212518694U (en) | Multi-circle encoder and motor | |
| CN202772773U (en) | Low speed motor magnetic rotation encoder | |
| CN209877990U (en) | Non-contact absolute angle position sensor of rotating body | |
| CN111829557B (en) | Rotation angle detecting device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |