CN110081910A - Signal modulating method, modulating system, demodulation method, demodulating system and embroidery machine - Google Patents
Signal modulating method, modulating system, demodulation method, demodulating system and embroidery machine Download PDFInfo
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- CN110081910A CN110081910A CN201910330277.3A CN201910330277A CN110081910A CN 110081910 A CN110081910 A CN 110081910A CN 201910330277 A CN201910330277 A CN 201910330277A CN 110081910 A CN110081910 A CN 110081910A
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Abstract
This application discloses a kind of modulator approach of incremental encoder signal, modulating system, demodulation method, demodulating system and embroidery machines.The modulator approach includes: acquisition A phase signals, B phase signals and zero signal；After collecting the rising edge of zero signal, the first pulse signal corresponding with A phase signals, the rising edge of B phase signals and failing edge is exported；After collecting the failing edge of zero signal, the second pulse signal corresponding with A phase signals, the rising edge of B phase signals and failing edge is exported；Wherein, the first pulse signal is different from the second pulse signal.It is modulated into modulated signal by the A phase signals, B phase signals and zero signal that export incremental encoder, the application can be improved the anti-interference ability of signal, so that more accurate by the data that the modulated signal obtains.
Description
Technical field
This application involves the signal processing technology fields of incremental encoder, believe more particularly to a kind of incremental encoder
Number modulator approach, modulating system, demodulation method, demodulating system and embroidery machine.
Background technique
Incremental encoder is the sensor that a kind of rotary motion by movement mechanism output shaft is converted into pulse signal, one
As for detecting position, speed and the direction of movement mechanism.Usual incremental encoder and movement mechanism are coaxially connected, with movement
Mechanism rotates together, generates the identical orthogonal pulses of frequency of the two-way phase phase difference 90 degree directly proportional with revolving speed, and increment type is compiled
Code device have many advantages, such as precision is high, measurement range is wide, it is small in size, light-weight, using being reliable, easy to safeguard, be widely used in machine
The fields such as device people, numerically-controlled machine tool.
And current incremental encoder output A phase signals, B phase signals and zero signal are non-modulated, anti-interference ability
It is weaker, so that it is not accurate enough by the motor information data that it is obtained, it is extremely harmful in the precision regulated and controled to motor.
Summary of the invention
The application mainly provides a kind of modulator approach of incremental encoder signal, modulating system, demodulation method, demodulation system
System and embroidery machine, the signal anti-interference ability to solve the problems, such as incremental encoder output are weak.
In order to solve the above technical problems, the technical solution that the application uses is: providing a kind of incremental encoder letter
Number modulator approach.The modulator approach includes: acquisition A phase signals, B phase signals and zero signal；When collecting zero signal
After rising edge, the first pulse signal corresponding with A phase signals, the rising edge of B phase signals and failing edge is exported；When collecting zero-bit
After the failing edge of signal, the second pulse signal corresponding with A phase signals, the rising edge of B phase signals and failing edge is exported；Wherein,
First pulse signal is different from the second pulse signal.
In order to solve the above technical problems, another technical solution that the application uses is: providing a kind of incremental encoder
The modulating system of signal.The modulating system includes incremental encoder and first processor, and incremental encoder is for exporting A phase
Signal, B phase signals and zero signal；First processor is connect with encoder, for acquiring A phase signals, B phase signals and zero-bit letter
Number；Wherein, after first processor collects the rising edge of zero signal, output with A phase signals, B phase signals rising edge and
Corresponding first pulse signal of failing edge；After first processor collects the failing edge of zero signal, output and A phase signals, B
Corresponding second pulse signal of the rising edge and failing edge of phase signals；First pulse signal is different from the second pulse signal.
In order to solve the above technical problems, another technical solution that the application uses is: providing a kind of incremental encoder
The demodulation method of signal.This method comprises: receiving the first pulse signal and the second pulse signal；Identify the first pulse signal
Initial position and the quantity or first pulse signal and its subsequent that continuous first pulse signal is recorded from initial position
Second pulse signal quantity；Obtain recorded the first pulse signal quantity or first pulse signal and
First pulse signal in the quantity and a cycle of second pulse signal, the ratio in the second pulse signal sum, obtain
The ratio and 360 degree of product, and then determine deflection angle；The deflection angle and the corresponding ratio for spending duration are obtained, into
And obtain revolving speed；Or the quantity of first pulse signal, second pulse signal is recorded in preset duration；Acquisition is remembered
Angle value corresponding to first pulse signal of record, the quantity of the second pulse signal, takes the angle value and the preset duration
Ratio, to determine revolving speed.
In order to solve the above technical problems, another technical solution that the application uses is: providing a kind of incremental encoder
Signal demodulating system.The incremental encoder signal demodulating system is for receiving the first pulse signal and the second pulse signal；Know
Not Chu the first pulse signal initial position and continuous first pulse signal, the second pulse letter are recorded from initial position
Number quantity；Obtain the first pulse signal in the quantity and a cycle of recorded the first pulse signal, the second pulse signal,
Ratio in second pulse signal sum obtains ratio and 360 degree of product, and then determines deflection angle；In preset duration
Record the quantity of the first pulse signal, the second pulse signal；Obtain the number of the first recorded pulse signal, the second pulse signal
The corresponding angle value of amount, takes the ratio of angle value Yu the preset duration, to determine revolving speed.
In order to solve the above technical problems, another technical solution that the application uses is: providing a kind of embroidery machine.The embroidery
Machine include such as above-mentioned incremental encoder signal modulating system, and such as above-mentioned incremental encoder signal demodulating system,
Second processor couples first processor.
The beneficial effect of the application is: being in contrast to the prior art, this application discloses a kind of incremental encoders
Modulator approach, demodulation method, modulating system and the embroidery machine of signal.Pass through A phase signals, the B phase for exporting incremental encoder
Signal and zero signal are modulated into modulated signal, to improve the anti-interference ability of its signal in transmission process, so that by should
The data that modulated signal obtains are more accurate.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of application for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings, in which:
Fig. 1 is the flow diagram of one embodiment of modulator approach of incremental encoder signal provided by the present application；
Fig. 2 is the waveform diagram of A phase signals in Fig. 1, B phase signals, zero signal and modulated signal；
Fig. 3 is the flow diagram of another embodiment of modulator approach of incremental encoder signal provided by the present application；
Fig. 4 is the flow diagram of step 22 in Fig. 3；
Fig. 5 is the waveform diagram of filtering in Fig. 3；
Fig. 6 is the flow diagram of the another embodiment of modulator approach of incremental encoder signal provided by the present application；
Fig. 7 is the structural schematic diagram of one embodiment of incremental encoder modulating system provided by the present application；
Fig. 8 is the flow diagram of one embodiment of demodulation method of incremental encoder provided by the present application；
Fig. 9 is the flow diagram of another embodiment of demodulation method of incremental encoder provided by the present application；
Figure 10 is the structural schematic diagram of one embodiment of incremental encoder signal demodulating system provided by the present application；
Figure 11 is the structural schematic diagram of one embodiment of embroidery machine provided by the present application.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation description, it is clear that described embodiment is only a part of the embodiment of the application, instead of all the embodiments.It is based on
Embodiment in the application, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall in the protection scope of this application.
Term " first ", " second ", " third " in the embodiment of the present application are used for description purposes only, and should not be understood as referring to
Show or imply relative importance or implicitly indicates the quantity of indicated technical characteristic." first ", " are defined as a result,
Two ", the feature of " third " can explicitly or implicitly include at least one of the features.In the description of the present application, " multiples' "
It is meant that at least two, such as two, three etc., unless otherwise specifically defined.In addition, term " includes " and " having "
And their any deformations, it is intended that cover and non-exclusive include.Such as contain the process of a series of steps or units, side
Method, system, product or equipment are not limited to listed step or unit, but optionally further comprising the step of not listing
Or unit, or optionally further comprising other step or units intrinsic for these process, methods, product or equipment.
Referenced herein " embodiment " is it is meant that a particular feature, structure, or characteristic described can wrap in conjunction with the embodiments
It is contained at least one embodiment of the application.Each position in the description occur the phrase might not each mean it is identical
Embodiment, nor the independent or alternative embodiment with other embodiments mutual exclusion.Those skilled in the art explicitly and
Implicitly understand, embodiment described herein can be combined with other embodiments.
Refering to fig. 1, Fig. 1 is the process signal of one embodiment of modulator approach of incremental encoder signal provided by the present application
Figure.
Step 11: acquisition A phase signals, B phase signals and zero signal.
A phase signals, B phase signals and zero signal are acquired, wherein A phase signals, B phase signals and zero signal are by increment type
Encoder issues.
In conjunction with referring to Fig.2, A phase signals, the pulse signal that B phase signals are 90 ° of electric degree angles of two-phase mutual deviation, i.e. A phase signals, B
Phase signals are two groups of positive blending output signals.The code-disc of incremental encoder rotates a circle, and only issues a zero signal, zero-bit letter
It number is used to refer to the mechanical zero of original screen panel or accumulation is reset.
A phase signals, B phase signals and zero signal are square-wave signal, and A phase signals are identical with the square width of B phase signals,
The waveform widths of zero signal are the multiple of the waveform widths of A phase signals.
Specifically, the rising edge and failing edge of A phase signals, B phase signals and zero signal are acquired.
For example, incremental encoder is connect by three signal wires with first processor, which is respectively used to
A phase signals, B phase signals and zero signal are transmitted to first processor, first processor acquires A phase signals, B phase signals and zero-bit
The rising edge and failing edge of signal, and A phase signals, B phase signals and zero signal are modulated into modulated signal, in order to be passed
It is defeated.
Optionally, first processor is FPGA (Field-Programmable Gate Array, field-programmable gate array
Column), the elements such as CPU (Central Processing Unit, central processing unit).
After collecting the rising edge of zero signal, step 12 is executed.
After collecting the failing edge of zero signal, step 13 is executed.
Step 12: after collecting the rising edge of zero signal, output and A phase signals, the rising edge of B phase signals and decline
Along corresponding first pulse signal.
As shown in Fig. 2, after collecting the rising edge of zero signal, output and A phase signals, B phase signals rising edge and
Corresponding first pulse signal of failing edge.
With the rising edge or failing edge of the A phase signals that the rising edge of zero signal is overlapped in timing, or with zero-bit believe
Number the rising edge rising edge or failing edge of the B phase signals that are overlapped in timing, equal the first pulse signals of same corresponding output.
The rising edge and failing edge of first processor while continuous collecting A phase signals, B phase signals and zero signal, when it
After the rising edge for collecting zero signal, the rising edge and failing edge of subsequent collected A phase signals, B phase signals are corresponding
The first pulse signal is exported, after it collects the failing edge of zero signal, executes step 13.
Step 13: after collecting the failing edge of zero signal, output and A phase signals, the rising edge of B phase signals and decline
Along corresponding second pulse signal.
As shown in Fig. 2, after collecting the failing edge of zero signal, output and A phase signals, B phase signals rising edge and
Corresponding second pulse signal of failing edge, the second pulse signal are different from the first pulse signal, first pulse signal and second
Pulse signal is included in modulated signal.
With the rising edge or failing edge of the A phase signals that the failing edge of zero signal is overlapped in timing, or with zero-bit believe
Number the failing edge rising edge or failing edge of the B phase signals that are overlapped in timing, equal the second pulse signals of same corresponding output.
For example, the first pulse signal pulse width is greater than the second pulse signal pulse width.Alternatively, the first pulse signal arteries and veins
Width is rushed less than the second pulse signal pulse width.
The period of A phase signals and B phase signals is identical, thus maximum pulse in the first pulse signal and the second pulse signal
Width is less than the half of the pulse width of A phase signals；Meanwhile first pulse signal and the second pulse signal period
Also identical.
In addition, the pulse width of the first pulse signal and the pulse width of the second pulse signal be it is adjustable, can root
Factually the precision of border motor speed and encoder adjusts.For example, being 2000r/min, incremental encoder in motor preset rotation speed
It is 1000 line coding devices, then the period of A phase signals is T=60/2000/1000=0.00003s=30us, the arteries and veins of A phase signals
Rushing width is 15us, then the pulse width of modulated signal is less than 7.5us；When motor preset rotation speed is 3000r/min, then A
Phase cycle is 20us, then the pulse width of modulated signal is less than 5us.Such as use the pulse width of the first pulse signal for
The pulse width of 5us, the second pulse signal are 2us, then in certain revolving speed section of motor, the pulse of the first pulse signal is wide
The pulse width of degree and the second pulse signal is all satisfied requirement.
The rising edge and failing edge of first processor while continuous collecting A phase signals, B phase signals and zero signal, when it
After the failing edge for collecting zero signal, the rising edge and failing edge of subsequent collected A phase signals, B phase signals are corresponding
The second pulse signal is exported, after it collects the rising edge of zero signal, executes step 12.
In turn, circle collection and A phase signals, B phase signals and zero signal are modulated, to form modulated signal, and then the tune
Signal processed only needs a signal wire that can export to other elements, is modulated into a kind of pulse relative to by A phase signals, B phase signals
The scheme that signal and zero signal transmit outward simultaneously, the scheme of the application can also save the cost.Such as micro-control unit
(Microcontroller Unit；MCU the modulated signal) is obtained, and distinguishes the first pulse signal and the second pulse signal,
To calculate the physical quantitys such as instant rotation angle and the speed of the shaft being connected with the incremental encoder, so can shaft into
Row regulation.
The A phase signals, B phase signals and zero signal of incremental encoder are modulated into a kind of modulated signal output, are passed through
Modulated signal is stronger in transmission process anti-interference ability, then with the connection of other electronic components or PCB (Printed
Circuit Board, printed circuit board) wiring when be also more convenient.
Show refering to the process that Fig. 3, Fig. 3 are another embodiments of modulator approach of incremental encoder signal provided by the present application
It is intended to.
Step 21: acquisition A phase signals, B phase signals and zero signal.
Step 22: A phase signals, B phase signals being filtered respectively.
While acquiring A phase signals, B phase signals and zero signal, place is filtered to A phase signals, B phase signals respectively
Reason, to filter out the interference waveform generated when incremental encoder shake, and then raising acquisition A phase signals, B phase signals is correct
Degree.
Waveform diagram as shown in Figure 5, when shaft is shaken, incremental encoder is shaken therewith, causes encoder
The relatively fixed grating shake of original screen panel, A phase signals and B phase signals are corresponding with different slits on original screen panel, i.e., on original screen panel
The relatively fixed grating of slit slit shake so that generate multiple pulse signals in the edge of A phase signals or B phase signals,
And then the quantity of A phase signals or B phase signals is influenced, and slit line number is fixed, i.e. A phase signals or B phase signals in encoder
Quantity be quantification, if the quantity of A phase signals or B phase signals occur mistake, to detection shaft revolving speed, corner etc.
Physical quantity will cause biggish error.
Specifically, as shown in figure 4, being filtered using following steps to A phase signals, B phase signals.
Step 221: judging whether adjacent the first edge and the second edge both correspond to A phase signals or B phase signals.
Adjacent the first edge and second is judged along whether A phase signals or B phase signals are both corresponded to, wherein the first edge and second
Along the rising edge or failing edge for including A phase signals or B phase signals.
That is the first edge and second along can for the rising edge of A phase signals, the failing edge of A phase signals, B phase signals rising edge
Or one of failing edge of B phase signals.
No matter encoder is along clockwise or counterclockwise, under normal circumstances, A phase signals, B phase signals are alternately by 1 → 0
Jump, any phase signals can not be jumped continuously, i.e., after a certain phase signals of A, B jump, which should be another
After phase signals also jump, it could jump again.If continuous jump occur in A phase signals or B phase signals, can be identified as
Shake, it should filter out.
A phase signals set first 90 degree compared to B phase signals, when original screen panel edge rotates clockwise, then adjacent by taking A phase signals as an example
Two edges are sequentially correctly " A phase signals rising edge, B phase signals rising edge ", " A phase signals failing edge, B phase signals failing edge "；
When original screen panel rotates counterclockwise, then adjacent two edge is sequentially correctly " A phase signals rising edge, B phase signals failing edge ", " A phase
Signal failing edge, B phase signals rising edge ".By taking B phase signals as an example, original screen panel along rotate clockwise when, adjacent two edge it is correct suitable
Sequence is " B phase signals rising edge, A phase signals failing edge ", " B phase signals failing edge, A phase signals rising edge "；Original screen panel is along up time
When needle rotates, adjacent two edge is sequentially correctly " B phase signals rising edge, A phase signals rising edge ", " B phase signals failing edge, A phase
Signal failing edge ".
Shaft, which exists, to be rotated forward, inverts, and then the above correctly situation exists, thus judges whether two adjacent edges are equal
Corresponding to A phase signals or B phase signals, that is, detect shake waveform.
Step 222: the first adjacent edge and second filters out first along A phase signals or B phase signals are both corresponded to if it exists
Edge or the second edge.
The first adjacent edge and second filters out the first edge or second along A phase signals or B phase signals are both corresponded to if it exists
Edge.The slit edges shake of relatively fixed grating at slit edges on original screen panel, thus on the side of A phase signals or B phase signals
(i.e. rising edge or falling edge) generates multiple dither signals at edge, and the edge of A phase signals or B phase signals only corresponds to one
Rising edge or failing edge, and then retain one of the first edge, second in.
After getting rid of one of the first edge, second in, another is as the first new edge, and chronologically judgement and its phase
Adjacent second along whether equal corresponding A phase signals or B phase signals, chronologically successively filter out.
For example, there are 10 dither signals for the failing edge areas adjacent of A phase signals, retain one of edge, into
And it may make that the number of pulses in a cycle for the modulated signal to be formed is kept constant, it is thus possible to guarantee turning for measuring and calculating shaft
The correctness of speed and corner.
If the first adjacent edge is different along affiliated signal with second, i.e., the first edge belongs to A phase signals, the second edge belongs to B
Phase signals or first are along B phase signals, second is belonged to along belonging to A phase signals, then by first edge and second along retaining, and
In subsequent corresponding execution step 23 or step 24.
Step 23: after collecting the rising edge of zero signal, output and A phase signals, the rising edge of B phase signals and decline
Along corresponding first pulse signal.
Step 24: after collecting the failing edge of zero signal, output and A phase signals, the rising edge of B phase signals and decline
Along corresponding second pulse signal.
Show refering to the process that Fig. 6, Fig. 6 are another embodiments of modulator approach of incremental encoder signal provided by the present application
It is intended to.
Step 31: acquisition A phase signals, B phase signals and zero signal.
Step 32: obtaining the direction of rotation information of incremental encoder.
The direction of rotation information of incremental encoder is obtained, the original screen panel of incremental encoder is clockwise with the shaft of connection
Direction rotates or rotates in an anti-clockwise direction, and 90 degree of electrical angles of mutual deviation between A phase signals and B phase signals, thus increment type encodes
A phase signals, the waveform diagram of B phase signals of device output are different with the difference of direction of rotation.
Incremental encoder 10 is connected with first processor 20 by three signal wires, which is respectively used to pass
Defeated A phase signals, B phase signals and zero signal, first processor 20 determine corresponding A phase signals and B from corresponding signal wire
Phase signals, and according to A phase signals, B phase signals waveform position relationship, it can judge the direction of rotation of incremental encoder 10.
As shown in Fig. 2, enabling A phase signals, B the phase signals indication signal in high level is 1, indication signal is 0 when low level,
And the waveform diagram that enable the waveform diagram in figure from left to right be incremental encoder direction of rotation when being clockwise direction, then known to should
Waveform diagram when incremental encoder direction of rotation is counter clockwise direction be in figure from right to left when waveform diagram.Thus, it obtains
When the directional information of incremental encoder, if its 1st moment collects the indication signal of A phase signals as the instruction of 1, B phase signals
Signal is to collect that the indication signal of A phase signals is 1, the indication signal of B phase signals is 1 the 0, the 2nd moment, then can determine that the increment
Formula encoder direction of rotation is clockwise；The indication signal that 1 moment of Ruo Qi collects A phase signals is 1, B phase signals
Indication signal is to collect that the indication signal of A phase signals is 1, the indication signal of B phase signals is 0 the 1, the 2nd moment, then can determine that this
Incremental encoder direction of rotation is counterclockwise.
Certainly, there are also the direction of rotation that other indication signal changing rules can determine that incremental encoder, such as when the 2nd
Quarter collects that the indication signal of A phase signals is 1, the indication signal of B phase signals is the instruction for collecting A phase signals at the 1, the 3rd moment
Signal is 0, the indication signal of B phase signals is 1, then can determine that the incremental encoder direction of rotation is clockwise direction etc., this
Application repeats no more.
Step 33: direction of rotation information is integrated in the first pulse signal and/or the second pulse signal.
Obtain incremental encoder direction of rotation information after, by direction of rotation information be integrated in the first pulse signal and/
Or second in pulse signal.
If the changed frequency in the direction of rotation of incremental encoder is relatively low, direction of rotation information is integrated in
In one pulse signal or the second pulse signal.As the direction of rotation of incremental encoder rotates five circles at it or just can later above
Change, then on one for the direction of rotation information being integrated in the first pulse signal and the second pulse signal.It is only herein
Schematic example does not constitute the limitation of the change frequency to incremental encoder direction of rotation.
For example, when the direction of rotation is clockwise or counterclockwise, the first pulse signal of corresponding adjustment or the second pulse signal
Pulse width.
Optionally, when clockwise direction, the first pulse signal is adjusted with the first pulse width output；When counter clockwise direction,
The first pulse signal is adjusted with the second pulse width output；And the second pulse signal is always with third pulse width output.
For example, the pulse width of the first pulse signal of adjustment is 4us when clockwise direction；When counter clockwise direction, adjustment the
The pulse width of one pulse signal is 6us；And the pulse width of the second pulse signal is always 2us.
Optionally, when clockwise direction, the second pulse signal is adjusted with the first pulse width output；When counter clockwise direction,
The second pulse signal is adjusted with the second pulse width output；And the first pulse signal is always with third pulse width output.
For example, the pulse width of the second pulse signal of adjustment is 2us when clockwise direction；When counter clockwise direction, adjustment the
The pulse width of two pulse signals is 4us；And the pulse width of the first pulse signal is always 6us.
In turn, subsequent when exchanging signal processing, the pulse width of the first pulse signal or the second pulse signal can be acquired
Information, matching and direction of rotation information corresponding to the pulse width information, to obtain the direction of rotation of the incremental encoder
Information.
If the changed frequency in the direction of rotation of incremental encoder is relatively high, direction of rotation information is integrated in
In one pulse signal and the second pulse signal.For example, the direction of rotation of incremental encoder is in one swing circle duration,
At least change it is primary, such as twice, it is three inferior, then by the direction of rotation, information is integrated in the first pulse signal and the second pulse letter
In number.
For example, the incremental encoder is set on the motor shaft of embroidery machine, the motor shaft is with driving tambour needle high-frequency
It changes direction of rotation with sewing clothes etc..
Optionally, when clockwise direction, the first pulse signal is adjusted with the first pulse width output, adjusts the second pulse letter
Number with third pulse width output；When counter clockwise direction, the first pulse signal is adjusted with the second pulse width output, adjustment second
Pulse signal is with the 4th pulse width output.
For example, the pulse width of the first pulse signal of adjustment is 2us, the second pulse signal of adjustment when clockwise direction
Pulse width is 5us；When counter clockwise direction, the pulse width of the first pulse signal of adjustment is 3us, the second pulse signal of adjustment
Pulse width is 6us.
In turn, the incremental encoder is at any orientation of swing circle regardless of rotating the variation in direction,
It is reflected in the pulse width variation of the first pulse signal or the second pulse signal, and then increment type volume can be obtained accurately and in real time
The direction of rotation change information of code device, and the deflection angle when direction of rotation of incremental encoder changes can be also determined according to this
Degree, and then the control precision to the motor connecting with the incremental encoder can be improved.
Step 34: A phase signals, B phase signals being filtered respectively.
Step 35: after collecting the rising edge of zero signal, output and A phase signals, the rising edge of B phase signals and decline
Along corresponding first pulse signal.
Step 36: after collecting the failing edge of zero signal, output and A phase signals, the rising edge of B phase signals and decline
Along corresponding second pulse signal.
It is the structural schematic diagram of one embodiment of incremental encoder modulating system provided by the present application refering to Fig. 7, Fig. 7.
The modulating system 100 of the incremental encoder signal includes incremental encoder 10 and first processor 20, increment
Formula encoder 10 is for exporting A phase signals, B phase signals and zero signal；First processor 20 is connect with incremental encoder 10,
For acquiring A phase signals, B phase signals and zero signal.
Wherein, after first processor 20 collects the rising edge of zero signal, export with A phase signals, B phase signals it is upper
Rise edge and corresponding first pulse signal of failing edge；After first processor 20 collects the failing edge of zero signal, output and A
Phase signals, the rising edge of B phase signals and corresponding second pulse signal of failing edge.First pulse signal is believed different from the second pulse
Number, and the first pulse signal and the second pulse signal are included in modulated signal.
Optionally, the first pulse signal pulse width is greater than the second pulse signal pulse width.
I.e. collected A phase signals, B phase signals and zero signal are modulated into modulated signal by first processor 20, simultaneously
First processor 20 judges the direction of rotation of incremental encoder 10 also according to A phase signals collected and B phase signals.
Incremental encoder 10 is connected with first processor 20 by three signal wires, which is respectively used to pass
Defeated A phase signals, B phase signals and zero signal, first processor 20 determine corresponding A phase signals and B from corresponding signal wire
Phase signals, and according to A phase signals, the waveform position relationship of B phase signals, it can judge the rotation side of incremental encoder 10
To.
As shown in Fig. 2, enabling A phase signals, B the phase signals indication signal in high level is 1, indication signal is 0 when low level,
And the waveform diagram that enable the waveform diagram in figure from left to right be incremental encoder direction of rotation when being clockwise direction, then known to should
Waveform diagram when incremental encoder direction of rotation is counter clockwise direction be in figure from right to left when waveform diagram.Thus, first
When processor 20 obtains the directional information of incremental encoder, if the indication signal that its 1st moment collects A phase signals is 1, B
The indication signal of phase signals is to collect that the indication signal of A phase signals is 1, the indication signal of B phase signals is 1 at the 0, the 2nd moment, then
It can determine that the incremental encoder direction of rotation for clockwise；The indication signal that 1 moment of Ruo Qi collects A phase signals is
1, the indication signal of B phase signals is to collect that the indication signal of A phase signals is 1, the indication signal of B phase signals is at the 1, the 2nd moment
0, then it can determine that the incremental encoder direction of rotation for counterclockwise.
Certainly, there are also the direction of rotation that other indication signal changing rules can determine that incremental encoder, such as when the 2nd
Quarter collects that the indication signal of A phase signals is 1, the indication signal of B phase signals is the instruction for collecting A phase signals at the 1, the 3rd moment
Signal is 0, the indication signal of B phase signals is 1, then can determine that the incremental encoder direction of rotation is clockwise direction etc., this
Application repeats no more.
After first processor 20 obtains the direction of rotation information of incremental encoder, which can be passed through
It is another to be transmitted outward with signal wire；Or the direction of rotation information is integrated in modulated signal by it, with modulated signal to unofficial biography
It passs, and then opposite can save a signal line.
It optionally, will be by direction of rotation information after the direction of rotation information of the acquisition of first processor 20 incremental encoder
It is integrated in the first pulse signal and/or the second pulse signal.
For example, when the direction of rotation is clockwise or counterclockwise, the first pulse signal of corresponding adjustment and/or the second pulse letter
Number pulse width.Concrete implementation mode has associated description in above method embodiment, repeats no more.
First processor 20 is further filtered A phase signals collected, B phase signals, to filter out interference
Signal.In the above-described embodiments, first processor 20 has been described in detail to A phase signals, B phase signals filtering, has repeated no more.
Optionally, first processor is FPGA (Field-Programmable Gate Array, field-programmable gate array
Column), the elements such as CPU (Central Processing Unit, central processing unit).
It is the flow diagram of one embodiment of demodulation method of incremental encoder provided by the present application refering to Fig. 8, Fig. 8.
Step 41: receiving the first pulse signal and the second pulse signal.
The first pulse signal and the second pulse signal are received, first pulse signal and the second pulse signal are included in tune
In signal processed.
Step 42: identifying the initial position of the first pulse signal and record continuous first pulse letter from initial position
Number quantity or the first pulse signal and its subsequent second pulse signal quantity.
It identifies the initial position of the first pulse signal, that is, identifies and the first pulse corresponding to zero signal rising edge
Signal, and be initial position by the position mark of first pulse signal.
The quantity or the first pulse signal and its subsequent second of continuous first pulse signal are recorded from initial position
The quantity of pulse signal.
Step 43: the quantity of the first recorded pulse signal of acquisition or the first pulse signal and its subsequent second arteries and veins
The first pulse signal in the quantity and a cycle of signal, the ratio in the second pulse signal sum are rushed, the ratio and 360 are obtained
The product of degree, and then determine deflection angle.
The line number of incremental encoder be it is fixed, corresponding A phase signals, B phase signals pulse sum be it is determining, into
And the sum of the first pulse signal, the second pulse signal exported is determining.For example, then increment type is compiled when line number is 1000
The original screen panel of code device rotates one week (i.e. a cycle) corresponding first pulse signal, the sum of the second pulse signal is 4000.
Obtain the quantity or the first pulse signal and its subsequent second pulse signal of recorded the first pulse signal
First pulse signal in quantity and a cycle, the ratio in the second pulse signal sum obtain multiplying for the ratio and 360 degree
Product, and then determine deflection angle.
Such as the quantity for the first pulse signal, the second pulse signal being recorded is 2000, then original screen panel is opposite originates
The deflection angle of position is 2000/4000*3600=1800.
Step 44: obtaining deflection angle and the corresponding ratio for spending duration, and then obtain revolving speed.
Deflection angle and the corresponding ratio for spending duration are obtained, and then obtains revolving speed.Or execute step 45, step 46.
Step 45: the quantity of the first pulse signal and/or the second pulse signal is recorded in preset duration.
The quantity of the first pulse signal, the second pulse signal is recorded in preset duration, i.e., any one the first arteries and veins of label
Signal or the second pulse signal are rushed as initial position, and start in preset duration record collected pulse signal number
Amount.
Step 46: angle value corresponding to the quantity of recorded the first pulse signal and/or the second pulse signal is obtained,
The ratio of angle value and preset duration is taken, to determine revolving speed.
Obtain the first pulse in the quantity and a cycle of recorded the first pulse signal and/or the second pulse signal
Ratio in signal, the second pulse signal sum, obtains the product of the ratio and 360 degree, and then obtain the first recorded arteries and veins
Angle value corresponding to the quantity of signal and/or the second pulse signal is rushed, the ratio of the angle value and preset duration is obtained
Determine the revolving speed for the shaft connecting with incremental encoder.
For example, the line number of incremental encoder is still 1000,2000 pulse signals are recorded in 0.01 second, then revolving speed
For 60x2000/4000/0.01=3000r/min.
If initial position and the end position position corresponding with above-mentioned measuring and calculating deflection angle of label are overlapped, available
Above-mentioned deflection angle and its corresponding duration calculate revolving speed.
It is the process signal of the another embodiment of demodulation method of incremental encoder provided by the present application refering to Fig. 9, Fig. 9
Figure.
Step 51: receiving the first pulse signal and the second pulse signal.
Step 52: identifying the initial position of the first pulse signal and record continuous first pulse letter from initial position
Number quantity or the first pulse signal and its subsequent second pulse signal quantity.
Step 53: the quantity of the first recorded pulse signal of acquisition or the first pulse signal and its subsequent second arteries and veins
The first pulse signal in the quantity and a cycle of signal, the ratio in the second pulse signal sum are rushed, the ratio and 360 are obtained
The product of degree, and then determine deflection angle.
Step 54: obtaining deflection angle and the corresponding ratio for spending duration, and then obtain revolving speed.
Step 55: the quantity of the first pulse signal and/or the second pulse signal is recorded in preset duration.
Step 56: angle value corresponding to the quantity of recorded the first pulse signal and/or the second pulse signal is obtained,
The ratio of angle value and preset duration is taken, to determine revolving speed.
Step 57: the pulse width of the first pulse signal of acquisition and/or the second pulse signal.
Acquire the pulse width of the first pulse signal and/or the second pulse signal, the first pulse signal and/or the second pulse
The pulse width data of signal is corresponding with the direction of rotation information of incremental encoder.
In the case where high for the direction of rotation change frequency of incremental encoder, the first pulse signal and the second arteries and veins are acquired
Rush the pulse width of signal.In the case where low for the direction of rotation change frequency of incremental encoder, acquisition the first pulse letter
Number or the second pulse signal pulse width.
Step 58: matching direction of rotation corresponding with pulse width information, and then obtain the rotation of incremental encoder
Directional information.
After the pulse width for collecting the first pulse signal and/or the second pulse signal, according to the first pulse signal and/or
The corresponding relationship of the direction of rotation of the pulse width and incremental encoder of second pulse signal, obtains the rotation of incremental encoder
Turn directional information.
For example, the pulse width of the first pulse signal is 4us, which corresponds to the direction of rotation of incremental encoder
It is clockwise；The pulse width of first pulse signal is 6us, and the direction of rotation which corresponds to incremental encoder is inverse
Hour hands.And then after detecting the pulse width of the first pulse signal, according to corresponding pulse width data and direction of rotation information
Corresponding relationship, that is, can determine the direction of rotation of incremental encoder.
How this embodiment is not repeated obtains the rotation of incremental encoder by the pulse width of the second pulse signal
Directional information.
0, Figure 10 is the structural representation of one embodiment of incremental encoder signal demodulating system provided by the present application refering to fig. 1
Figure.
The incremental encoder signal demodulating system 200 includes second processor 210.
The second processor 210 is for the first pulse signal of reception and the second pulse signal, and identifies that the first pulse is believed
Number initial position and the quantity or the first pulse signal and its subsequent of continuous first pulse signal are recorded from initial position
The second pulse signal quantity；And obtain the quantity or the first pulse signal and its subsequent of recorded the first pulse signal
The second pulse signal quantity and a cycle in the first pulse signal, the second pulse signal sum in ratio, obtain should
Ratio and 360 degree of product, and then determine deflection angle.
Further, second processor also obtains the deflection angle and the corresponding ratio for spending duration, and then obtains revolving speed.
Alternatively, the second processor 210 is also used to record the first pulse signal and/or the second pulse letter in preset duration
Number quantity, obtain angle value corresponding to the quantity of recorded the first pulse signal and/or the second pulse signal, take the angle
The ratio of angle value and preset duration, to determine revolving speed.
Further, second processor 210 is used to acquire the pulse width of the first pulse signal or the second pulse signal,
With direction of rotation corresponding with pulse width information, and then obtain the direction of rotation information of incremental encoder.
In conjunction with the associated description in above-described embodiment about the direction of rotation of incremental encoder, second processor 210 is adopted
After the pulse width for collecting the first pulse signal and/or the second pulse signal, the direction of rotation of incremental encoder can be obtained
Information.
1, Figure 11 is the structural schematic diagram of one embodiment of embroidery machine provided by the present application refering to fig. 1.
The embroidery machine 300 includes such as above-mentioned incremental encoder signal modulating system 100, and such as above-mentioned increment type
Code device signal demodulating system 200, second processor 210 couple first processor 20.
Incremental encoder 10 is set in the shaft 31 of motor 30, and first processor 20 and incremental encoder 10 connect
It connects, executes the program step in above-mentioned incremental encoder signal modulator approach embodiment, and export the first pulse signal and the
Two pulse signals；Second processor 210 is connect with first processor 20, is believed for receiving first pulse signal and the second pulse
Number, to control the motion state that motor 30 adjusts shaft 31 according to the information of the first pulse signal and the second pulse signal.
The original screen panel of incremental encoder 10 is connect with shaft 31, is rotated with shaft 31, and then incremental encoder 10 is raw
At A phase signals, B phase signals and zero signal.
First pulse signal and the second pulse signal are included in modulated signal, i.e., first processor 20 will be acquired from increasing
A phase signals, B phase signals and the zero signal of amount formula encoder 10 are modulated into modulated signal, and are transferred to second processor 210,
The information according to entrained by the modulated signal of second processor 210 obtains revolving speed, the real-time deflection angle, direction of rotation of shaft
Information, and then compared according to the physical quantity (such as revolving speed) of the information and preset shaft 31, regulate and control the motion state of shaft 31.
Optionally, first processor 20 is field programmable gate array (FPGA), and second processor 210 is micro-control unit
(MCU).Incremental encoder 10 is connect by three signal wires with first processor 20, which is respectively used to transmit
A phase signals, B phase signals and zero signal；First processor 20 is connect by a signal wire with second processor 210, and first
Processor 20 exports modulated signal to second processor 210 by a signal, and the signal that incremental encoder 10 exports passes through
The transmission of signal wire is only needed after ovennodulation, so relatively first processor 20 connect with second processor 210 it is more convenient.
A kind of signal (modulated signal) is handled, the speed for obtaining information is in contrast improved, modulated signal
Pulse frequency is improved with respect to the pulse frequency of A phase signals or B phase signals, so be conducive to improve obtain information (deflection angle,
Revolving speed) precision enable to shaft holding to be more smoothly moved shape so that the control to machine shaft is more accurate
State.
For example, one end of shaft is also connect with the tambour needle of embroidery machine 300, and then technical solution provided by the present application can
So that the positioning of tambour needle is more accurate, the thorn show technique of embroidery machine 200 is improved.
Optionally, first processor 20 and second processor 210 are integrated on same circuit board.Alternatively, first processor
20 and second processor 210 function replaced a kind of processor, such as the processor be CPU.
A phase signals, B phase signals and zero signal are modulated into modulated signal by the application, so that zero signal is anti-
Interference performance enhancing, the information for the incremental encoder 10 that such second processor 210 obtains is more accurate, to turning for motor 30
The control of axis 31 is more accurate.
This application discloses a kind of modulator approach of incremental encoder signal, modulating system and embroidery machines.By that will increase
A phase signals, B phase signals and the zero signal of amount formula encoder output are modulated into modulated signal, to improve it in transmission process
The anti-interference ability of signal, so that more accurate by the data that the modulated signal obtains.
Above is only an example of the present application, it is not intended to limit the scope of the patents of the application, it is all to utilize this Shen
Please equivalent structure or equivalent flow shift made by specification and accompanying drawing content, be applied directly or indirectly in other relevant skills
Art field similarly includes in the scope of patent protection of the application.
Claims (14)
1. a kind of modulator approach of incremental encoder signal characterized by comprising
Acquire A phase signals, B phase signals and zero signal；
After collecting the rising edge of the zero signal, output with the A phase signals, the B phase signals rising edge and under
Drop is along corresponding first pulse signal；
After collecting the failing edge of the zero signal, output with the A phase signals, the B phase signals rising edge and under
Drop is along corresponding second pulse signal；
Wherein, first pulse signal is different from second pulse signal.
2. modulator approach according to claim 1, which is characterized in that the first pulse signal pulse width is greater than described
Second pulse signal pulse width.
3. modulator approach according to claim 1, which is characterized in that after the acquisition A phase signals, B phase signals,
It include: that the A phase signals, the B phase signals are filtered respectively.
4. modulator approach according to claim 3, which is characterized in that described to believe respectively to the A phase signals, the B
The step of number being filtered, specifically include:
Judge whether adjacent the first edge and the second edge both correspond to A phase signals or B phase signals, first edge and described second
Along the rising edge or failing edge for including the A phase signals or the B phase signals；
The first adjacent edge and second filters out first edge or described along A phase signals or B phase signals are both corresponded to if it exists
Second edge.
5. modulator approach according to claim 1, which is characterized in that the acquisition A phase signals, B phase signals and zero-bit letter
Number the step of after, further includes:
Obtain the direction of rotation information of the incremental encoder；
The direction of rotation information is integrated in first pulse signal and/or second pulse signal.
6. a kind of incremental encoder signal modulating system characterized by comprising
Incremental encoder, for exporting A phase signals, B phase signals and zero signal；
First processor is connect with the encoder, for acquiring the A phase signals, the B phase signals and zero-bit letter
Number；
Wherein, after the first processor collects the rising edge of the zero signal, output and the A phase signals, the B
Corresponding first pulse signal of the rising edge and failing edge of phase signals；When the first processor collects the zero signal
After failing edge, the second pulse signal corresponding with the A phase signals, the rising edge of the B phase signals and failing edge is exported；It is described
First pulse signal is different from second pulse signal.
7. modulating system according to claim 6, which is characterized in that the first processor further judges adjacent
Whether one edge and second is along A phase signals or B phase signals are both corresponded to, and first edge and described second is along including the A phase
The rising edge or failing edge of signal or the B phase signals；
The first adjacent edge and second filters out first edge or described along A phase signals or B phase signals are both corresponded to if it exists
Second edge.
8. modulating system according to claim 6, which is characterized in that the first processor is further used for described in acquisition
The direction of rotation information of incremental encoder, and the direction of rotation information is integrated in first pulse signal and/or institute
It states in the second pulse signal.
9. a kind of demodulation method of incremental encoder signal characterized by comprising
Receive the first pulse signal and the second pulse signal；
It identifies the initial position of first pulse signal and records continuous first pulse from the initial position
The quantity of the quantity of signal or first pulse signal and its subsequent second pulse signal；
Obtain the quantity of the first recorded pulse signal or the quantity of first pulse signal and second pulse signal
Ratio with the first pulse signal described in a cycle, the second pulse signal sum, obtains multiplying for the ratio and 360 degree
Product, and then determine deflection angle；
The deflection angle and the corresponding ratio for spending duration are obtained, and then obtains revolving speed, or:
The quantity of first pulse signal and/or second pulse signal is recorded in preset duration；
Angle value corresponding to the quantity of recorded the first pulse signal and/or second pulse signal is obtained, is taken described
The ratio of angle value and the preset duration, to determine revolving speed.
10. demodulation method according to claim 9, which is characterized in that the first pulse signal of the reception and the second pulse
After signal, further includes:
Acquire the pulse width of first pulse signal and/or second pulse signal；
Direction of rotation corresponding with pulse width information is matched, and then obtains the direction of rotation letter of the incremental encoder
Breath.
11. a kind of incremental encoder signal demodulating system characterized by comprising
Second processor, for receiving the first pulse signal and the second pulse signal；
It identifies the initial position of first pulse signal and records continuous first pulse from the initial position
The quantity of the quantity of signal or first pulse signal and its subsequent second pulse signal；
The quantity of the first recorded pulse signal of acquisition or first pulse signal and its subsequent second pulse letter
Number quantity and a cycle in first pulse signal, the second pulse signal sum in ratio, obtain the ratio and
360 degree of product, and then determine deflection angle；
The deflection angle and the corresponding ratio for spending duration are obtained, and then obtains revolving speed, or:
The quantity of first pulse signal and/or second pulse signal is recorded in preset duration；
Angle value corresponding to the quantity of recorded the first pulse signal and/or second pulse signal is obtained, is taken described
The ratio of angle value and the preset duration, to determine revolving speed.
12. demodulating system according to claim 11, which is characterized in that the second processor is also used to acquire described
The pulse width of one pulse signal and/or second pulse signal matches direction of rotation letter corresponding with the pulse width
Breath, and then obtain the direction of rotation information of the incremental encoder.
13. a kind of embroidery machine characterized by comprising
Such as the described in any item incremental encoder signal modulating systems of claim 6 to 8, and such as claim 9 or 10 institutes
The incremental encoder signal demodulating system stated, the second processor couple the first processor.
14. embroidery machine according to claim 13, which is characterized in that the first processor is field-programmable gate array
Column, the second processor is micro-control unit, and the incremental encoder passes through three signal wires and the first processor
Connection, exports the A phase signals, the B phase signals and the zero signal respectively, and the first processor passes through a signal
Line is connect with the second processor, to export first pulse signal and second pulse signal.
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