CN110081910B - Signal modulation method, modulation system, demodulation method, demodulation system and embroidery machine - Google Patents
Signal modulation method, modulation system, demodulation method, demodulation system and embroidery machine Download PDFInfo
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- CN110081910B CN110081910B CN201910330277.3A CN201910330277A CN110081910B CN 110081910 B CN110081910 B CN 110081910B CN 201910330277 A CN201910330277 A CN 201910330277A CN 110081910 B CN110081910 B CN 110081910B
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Abstract
The application discloses a modulation method, a modulation system, a demodulation method, a demodulation system and an embroidery machine of incremental encoder signals. The modulation method comprises the following steps: collecting an A-phase signal, a B-phase signal and a zero position signal; when the rising edge of the zero-position signal is collected, outputting a first pulse signal corresponding to the rising edge and the falling edge of the A-phase signal and the B-phase signal; when the falling edge of the zero-position signal is collected, outputting second pulse signals corresponding to the rising edge and the falling edge of the A-phase signal and the B-phase signal; wherein the first pulse signal is different from the second pulse signal. Through A looks signal, B looks signal and the zero position signal modulation signal with incremental encoder output, the interference killing feature of signal can be improved to this application for the data that obtain through this modulation signal is more accurate.
Description
Technical Field
The present disclosure relates to the field of signal processing technologies of incremental encoders, and in particular, to a modulation method, a modulation system, a demodulation method, a demodulation system, and an embroidery machine for signals of an incremental encoder.
Background
An incremental encoder is a sensor that converts the rotational motion of the output shaft of a motion mechanism into a pulse signal, typically used to detect the position, speed, and direction of the motion mechanism. Generally, an incremental encoder is coaxially connected with a motion mechanism and rotates along with the motion mechanism to generate two paths of orthogonal pulses with the same frequency and the phase difference of 90 degrees in direct proportion to the rotating speed.
The existing incremental encoder outputs an A-phase signal, a B-phase signal and a zero-position signal without modulation, so that the anti-interference capability is weak, the motor information data acquired by the incremental encoder is not accurate enough, and the accuracy of motor regulation and control is very harmful.
Disclosure of Invention
The application mainly provides a modulation method, a modulation system, a demodulation method, a demodulation system and an embroidery machine of incremental encoder signals, and aims to solve the problem that the signals output by the incremental encoder are weak in anti-interference capacity.
In order to solve the technical problem, the application adopts a technical scheme that: a method of modulating a signal of an incremental encoder is provided. The modulation method comprises the following steps: collecting an A-phase signal, a B-phase signal and a zero position signal; when the rising edge of the zero-position signal is collected, outputting a first pulse signal corresponding to the rising edge and the falling edge of the A-phase signal and the B-phase signal; when the falling edge of the zero-position signal is collected, outputting second pulse signals corresponding to the rising edge and the falling edge of the A-phase signal and the B-phase signal; wherein the first pulse signal is different from the second pulse signal.
In order to solve the above technical problem, another technical solution adopted by the present application is: a system for modulating a signal of an incremental encoder is provided. The modulation system comprises an incremental encoder and a first processor, wherein the incremental encoder is used for outputting an A-phase signal, a B-phase signal and a zero position signal; the first processor is connected with the encoder and used for acquiring an A-phase signal, a B-phase signal and a zero position signal; when the first processor acquires the rising edge of the zero-position signal, outputting a first pulse signal corresponding to the rising edge and the falling edge of the A-phase signal and the B-phase signal; when the first processor acquires the falling edge of the zero-position signal, outputting a second pulse signal corresponding to the rising edge and the falling edge of the A-phase signal and the B-phase signal; the first pulse signal is different from the second pulse signal.
In order to solve the above technical problem, another technical solution adopted by the present application is: a method of demodulating an incremental encoder signal is provided. The method comprises the following steps: receiving a first pulse signal and a second pulse signal; identifying the starting position of a first pulse signal and recording the number of continuous first pulse signals from the starting position or the number of the first pulse signals and the second pulse signals subsequent to the first pulse signals; obtaining the number of the recorded first pulse signals or the ratio of the number of the first pulse signals and the number of the second pulse signals to the total number of the first pulse signals and the second pulse signals in one period, and obtaining the product of the ratio and 360 degrees to further determine the deflection angle; obtaining the ratio of the deflection angle to the corresponding spent time, and further obtaining the rotating speed; or recording the number of the first pulse signals and the second pulse signals within a preset time length; and obtaining angle values corresponding to the recorded quantities of the first pulse signals and the second pulse signals, and taking the ratio of the angle values to the preset time length to determine the rotating speed.
In order to solve the above technical problem, another technical solution adopted by the present application is: an incremental encoder signal demodulation system is provided. The incremental encoder signal demodulation system is used for receiving a first pulse signal and a second pulse signal; identifying the starting position of a first pulse signal and recording the number of continuous first pulse signals and second pulse signals from the starting position; obtaining the ratio of the number of the recorded first pulse signals and the second pulse signals to the total number of the first pulse signals and the second pulse signals in one period, and obtaining the product of the ratio and 360 degrees to further determine the deflection angle; recording the number of the first pulse signals and the number of the second pulse signals within a preset time length; and obtaining angle values corresponding to the recorded quantities of the first pulse signals and the second pulse signals, and taking the ratio of the angle values to the preset time length to determine the rotating speed.
In order to solve the above technical problem, another technical solution adopted by the present application is: an embroidering machine is provided. The embroidery machine comprises the incremental encoder signal modulation system and the incremental encoder signal demodulation system, wherein the second processor is coupled with the first processor.
The beneficial effect of this application is: different from the prior art, the application discloses a modulation method, a demodulation method, a modulation system and an embroidery machine of incremental encoder signals. The A-phase signal, the B-phase signal and the zero position signal output by the incremental encoder are modulated into a modulation signal, so that the anti-interference capacity of the signal in the transmission process is improved, and the data acquired through the modulation signal is more accurate.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts, wherein:
fig. 1 is a schematic flowchart of an embodiment of a method for modulating a signal of an incremental encoder provided in the present application;
FIG. 2 is a schematic waveform diagram of the phase A signal, the phase B signal, the null signal and the modulation signal in FIG. 1;
FIG. 3 is a schematic flow chart diagram illustrating another embodiment of a method for modulating a signal of an incremental encoder provided in the present application;
FIG. 4 is a schematic flow chart of step 22 of FIG. 3;
FIG. 5 is a waveform diagram illustrating the filtering process of FIG. 3;
FIG. 6 is a schematic flow chart diagram illustrating a method for modulating a signal of an incremental encoder according to another embodiment of the present disclosure;
FIG. 7 is a schematic block diagram of an embodiment of a modulation system of a delta coder provided in the present application;
FIG. 8 is a flowchart illustrating an embodiment of a demodulation method of an incremental encoder provided herein;
FIG. 9 is a flow chart illustrating a demodulation method of the incremental encoder according to another embodiment of the present disclosure;
FIG. 10 is a block diagram illustrating an embodiment of a system for demodulating a signal from an incremental encoder provided herein;
FIG. 11 is a schematic structural diagram of an embodiment of an embroidery machine provided by the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms "first", "second" and "third" in the embodiments of the present application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of the feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless explicitly specifically limited otherwise. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
Referring to fig. 1, fig. 1 is a schematic flowchart illustrating an embodiment of a method for modulating an incremental encoder signal according to the present disclosure.
Step 11: and collecting an A-phase signal, a B-phase signal and a zero position signal.
And acquiring an A-phase signal, a B-phase signal and a zero position signal, wherein the A-phase signal, the B-phase signal and the zero position signal are all sent by an incremental encoder.
Referring to fig. 2, the phase a signal and the phase B signal are two pulse signals that are different from each other by 90 ° in electrical angle, that is, the phase a signal and the phase B signal are two sets of orthogonal output signals. The code wheel of the incremental encoder only sends out a zero position signal after rotating for one circle, and the zero position signal is used for indicating the mechanical zero position of the grating plate or clearing the accumulation amount.
The phase A signal, the phase B signal and the zero position signal are all square wave signals, the square wave widths of the phase A signal and the phase B signal are the same, and the waveform width of the zero position signal is a multiple of the waveform width of the phase A signal.
Specifically, the rising edge and the falling edge of the A-phase signal, the B-phase signal and the zero position signal are collected.
For example, the incremental encoder is connected to the first processor through three signal lines, the three signal lines are respectively used for transmitting an a-phase signal, a B-phase signal and a zero-position signal to the first processor, the first processor collects rising edges and falling edges of the a-phase signal, the B-phase signal and the zero-position signal, and modulates the a-phase signal, the B-phase signal and the zero-position signal into a modulation signal for transmission.
Optionally, the first processor is an FPGA (Field-Programmable Gate Array), a CPU (Central Processing Unit), or the like.
When the rising edge of the zero signal is acquired, step 12 is executed.
And when the falling edge of the zero position signal is acquired, executing the step 13.
Step 12: and after the rising edge of the zero-position signal is acquired, outputting a first pulse signal corresponding to the rising edge and the falling edge of the A-phase signal and the B-phase signal.
As shown in fig. 2, after the rising edge of the zero signal is acquired, the first pulse signals corresponding to the rising edge and the falling edge of the a-phase signal and the B-phase signal are output.
And the rising edge or the falling edge of the A-phase signal which is coincided with the rising edge of the zero position signal in time sequence, or the rising edge or the falling edge of the B-phase signal which is coincided with the rising edge of the zero position signal in time sequence correspondingly outputs the first pulse signal.
The first processor continuously acquires the rising edge and the falling edge of the A-phase signal, the B-phase signal and the zero-position signal at the same time, and after acquiring the rising edge of the zero-position signal, the rising edge and the falling edge of the A-phase signal and the B-phase signal acquired subsequently correspondingly output the first pulse signal until acquiring the falling edge of the zero-position signal, and then step 13 is executed.
Step 13: and after the falling edge of the zero-position signal is acquired, outputting a second pulse signal corresponding to the rising edge and the falling edge of the A-phase signal and the B-phase signal.
As shown in fig. 2, after the falling edge of the zero signal is collected, the second pulse signals corresponding to the rising edge and the falling edge of the a-phase signal and the B-phase signal are output, the second pulse signals are different from the first pulse signals, and the first pulse signals and the second pulse signals are both included in the modulation signal.
And the rising edge or the falling edge of the A-phase signal which is coincided with the falling edge of the zero position signal in time sequence, or the rising edge or the falling edge of the B-phase signal which is coincided with the falling edge of the zero position signal in time sequence correspondingly outputs a second pulse signal.
For example, the first pulse signal pulse width is greater than the second pulse signal pulse width. Or the pulse width of the first pulse signal is smaller than that of the second pulse signal.
The periods of the A-phase signal and the B-phase signal are the same, so that the maximum pulse width of the first pulse signal and the second pulse signal is less than one half of the pulse width of the A-phase signal; meanwhile, the periods of the first pulse signal and the second pulse signal are also the same.
In addition, the pulse width of the first pulse signal and the pulse width of the second pulse signal are both adjustable and can be adjusted according to the actual motor rotating speed and the accuracy of the encoder. For example, when the preset rotation speed of the motor is 2000r/min, and the incremental encoder is a 1000-line encoder, the period of the a-phase signal is T60/2000/1000-0.00003 s-30 us, and the pulse width of the a-phase signal is 15us, the pulse width of the modulation signal is smaller than 7.5 us; when the preset rotating speed of the motor is 3000r/min, the A phase period is 20us, and the pulse width of the modulation signal is less than 5 us. If the pulse width of the first pulse signal is 5us and the pulse width of the second pulse signal is 2us, the pulse width of the first pulse signal and the pulse width of the second pulse signal both meet the requirement in a certain rotating speed interval of the motor.
The first processor continuously acquires the rising edge and the falling edge of the A-phase signal, the B-phase signal and the zero-position signal at the same time, and after acquiring the falling edge of the zero-position signal, the first processor correspondingly outputs the second pulse signal at the rising edge and the falling edge of the A-phase signal and the B-phase signal acquired later until acquiring the rising edge of the zero-position signal, and then executes the step 12.
Furthermore, the phase A signal, the phase B signal and the zero position signal are collected and modulated in a circulating mode to form a modulation signal, the modulation signal can be output to other elements through only one signal line, and compared with a scheme that the phase A signal and the phase B signal are modulated into a pulse signal and the zero position signal to be transmitted outwards at the same time, the scheme of the application can save cost. For example, a Micro Control Unit (MCU) obtains the modulation signal and distinguishes the first pulse signal from the second pulse signal, thereby calculating physical quantities such as an instantaneous rotation angle and a speed of a rotating shaft connected to the incremental encoder, and further, the rotating shaft can be adjusted and controlled.
The A-phase signal, the B-phase signal and the zero position signal of the incremental encoder are modulated into a modulation signal to be output, the modulated signal has stronger anti-interference capability in the transmission process, and the incremental encoder is more convenient to be connected with other electronic elements or to be wired on a Printed Circuit Board (PCB).
Referring to fig. 3, fig. 3 is a schematic flowchart of another embodiment of a method for modulating an incremental encoder signal provided in the present application.
Step 21: and collecting an A-phase signal, a B-phase signal and a zero position signal.
Step 22: and respectively carrying out filtering processing on the A-phase signal and the B-phase signal.
When the A-phase signal, the B-phase signal and the zero position signal are collected, the A-phase signal and the B-phase signal are filtered respectively to filter interference waveforms generated when the incremental encoder shakes, and therefore the accuracy of collecting the A-phase signal and the B-phase signal is improved.
As shown in the waveform diagram of fig. 5, when the rotating shaft shakes, the incremental encoder shakes along with the rotating shaft, so that the grating plate of the encoder shakes relative to the fixed grating, the a-phase signal and the B-phase signal have different slits on the grating plate, that is, the slits on the grating plate shake relative to the slits of the fixed grating, so that a plurality of pulse signals are generated at the edge of the a-phase signal or the B-phase signal, and further the number of the a-phase signal or the B-phase signal is affected, while the number of the slit lines in the encoder is fixed, that is, the number of the a-phase signal or the B-phase signal is determined, if the number of the a-phase signal or the B-phase signal is wrong, a large error is caused on detecting physical quantities such as the rotating speed, the rotating angle.
Specifically, as shown in fig. 4, the following steps are adopted to perform filtering processing on the a-phase signal and the B-phase signal.
Step 221: and judging whether the adjacent first edge and the second edge both correspond to the A-phase signal or the B-phase signal.
And judging whether the adjacent first edge and the second edge both correspond to the A-phase signal or the B-phase signal, wherein the first edge and the second edge both comprise the rising edge or the falling edge of the A-phase signal or the B-phase signal.
That is, the first edge and the second edge may be one of a rising edge of the a-phase signal, a falling edge of the a-phase signal, a rising edge of the B-phase signal, or a falling edge of the B-phase signal.
No matter the encoder rotates clockwise or anticlockwise, normally, the A-phase signal and the B-phase signal alternately jump from 1 → 0, and any one phase signal cannot continuously jump, namely A, B a certain phase signal jumps and the phase signal should jump again after the other phase signal also jumps. If the A phase signal or the B phase signal has continuous jump, it can be identified as jitter and should be filtered out.
Taking the phase-a signal as an example, when the grating plate rotates clockwise, the correct sequence of the two adjacent edges is "rising edge of phase-a signal, rising edge of phase-B signal", "falling edge of phase-a signal, falling edge of phase-B signal"; when the grating plate rotates along the anticlockwise direction, the correct sequence of the two adjacent edges is 'a phase signal rising edge, B phase signal falling edge', 'a phase signal falling edge, B phase signal rising edge'. Taking the phase B signal as an example, when the grating plate rotates clockwise, the correct sequence of the two adjacent edges is "B phase signal rising edge, a phase a signal falling edge", "B phase signal falling edge, a phase a signal rising edge"; when the grating plate rotates clockwise, the correct sequence of two adjacent edges is 'B-phase signal rising edge, A-phase signal rising edge', 'B-phase signal falling edge, A-phase signal falling edge'.
The rotating shaft rotates forwards and backwards, and the above correct conditions exist, so that whether two adjacent edges correspond to the A-phase signal or the B-phase signal is judged, namely the jitter waveform is detected.
Step 222: and if the adjacent first edge and the second edge both correspond to the A-phase signal or the B-phase signal, filtering out the first edge or the second edge.
And if the adjacent first edge and the second edge both correspond to the A-phase signal or the B-phase signal, filtering out the first edge or the second edge. The slit edge on the grating plate is dithered relative to the slit edge of the fixed grating, so that a plurality of dither signals are generated at the edge (namely, the rising edge or the falling edge) of the A-phase signal or the B-phase signal, the edge of the A-phase signal or the B-phase signal only corresponds to one rising edge or one falling edge, and then one of the first edge and the second edge is reserved.
And after one of the first edge and the second edge is removed, the other edge is used as a new first edge, whether the second edge adjacent to the first edge corresponds to the A-phase signal or the B-phase signal is judged according to the time sequence, and the signals are sequentially filtered according to the time sequence.
For example, 10 jitter signals exist near the falling edge region of the A-phase signal, and one edge of the jitter signals is reserved, so that the number of pulses in one period of the formed modulation signal can be kept constant, and the accuracy of measuring and calculating the rotating speed and the rotating angle of the rotating shaft can be ensured.
If the adjacent first edge and second edge belong to different signals, that is, the first edge belongs to the a-phase signal, the second edge belongs to the B-phase signal, or the first edge belongs to the B-phase signal, and the second edge belongs to the a-phase signal, both the first edge and the second edge are retained, and then step 23 or step 24 is performed correspondingly.
Step 23: and after the rising edge of the zero-position signal is acquired, outputting a first pulse signal corresponding to the rising edge and the falling edge of the A-phase signal and the B-phase signal.
Step 24: and after the falling edge of the zero-position signal is acquired, outputting a second pulse signal corresponding to the rising edge and the falling edge of the A-phase signal and the B-phase signal.
Referring to fig. 6, fig. 6 is a schematic flowchart of another embodiment of a method for modulating an incremental encoder signal provided in the present application.
Step 31: and collecting an A-phase signal, a B-phase signal and a zero position signal.
Step 32: rotation direction information of the incremental encoder is acquired.
The method comprises the steps of obtaining rotation direction information of an incremental encoder, enabling a grating plate of the incremental encoder to rotate clockwise or anticlockwise along with a connected rotating shaft, and enabling the A-phase signal and the B-phase signal to be different in electrical angle by 90 degrees, so that wave forms of the A-phase signal and the B-phase signal output by the incremental encoder are different along with different rotation directions.
The incremental encoder 10 and the first processor 20 are connected by three signal lines, the three signal lines are respectively used for transmitting an a-phase signal, a B-phase signal and a zero-position signal, the first processor 20 determines the corresponding a-phase signal and B-phase signal from the corresponding signal lines, and the rotation direction of the incremental encoder 10 can be determined according to the waveform position relationship of the a-phase signal and the B-phase signal.
As shown in fig. 2, when the indication signal is 1 when the phase a signal and the phase B signal are at a high level and 0 when the phase B signal is at a low level, and when the waveform diagram from left to right in the figure is the waveform diagram when the rotation direction of the incremental encoder is clockwise, it can be seen that the waveform diagram when the rotation direction of the incremental encoder is counterclockwise is the waveform diagram when the rotation direction of the incremental encoder is from right to left in the figure. Therefore, when the direction information of the incremental encoder is acquired, if the indication signal of the a-phase signal acquired at the 1 st time is 1, the indication signal of the B-phase signal is 0, and the indication signal of the a-phase signal acquired at the 2 nd time is 1, and the indication signal of the B-phase signal is 1, it can be determined that the rotation direction of the incremental encoder is clockwise; if the indication signal of the A-phase signal collected at the 1 st moment is 1, the indication signal of the B-phase signal collected at the 2 nd moment is 1, and the indication signal of the B-phase signal collected at the 2 nd moment is 0, the rotation direction of the incremental encoder can be determined to be the anticlockwise direction.
Of course, there are other indication signal change rules that can determine the rotation direction of the incremental encoder, for example, if the indication signal acquired at the 2 nd time of the a-phase signal is 1, the indication signal acquired at the B-phase signal is 1, the indication signal acquired at the 3 rd time of the a-phase signal is 0, and the indication signal acquired at the B-phase signal is 1, it can be determined that the rotation direction of the incremental encoder is clockwise, and the like, which is not described in detail in this application.
Step 33: the rotation direction information is integrated into the first pulse signal and/or the second pulse signal.
And after the rotation direction information of the incremental encoder is acquired, the rotation direction information is integrated into the first pulse signal and/or the second pulse signal.
If the frequency of the change of the rotation direction of the incremental encoder is relatively low, the rotation direction information is integrated into the first pulse signal or the second pulse signal. If the rotational direction of the incremental encoder changes after five or more rotations, the rotational direction information can be integrated into one of the first pulse signal and the second pulse signal. This is merely an illustrative example and does not constitute a limitation on the frequency of change of the incremental encoder rotational direction.
For example, when the rotation direction is clockwise or counterclockwise, the pulse width of the first pulse signal or the second pulse signal is correspondingly adjusted.
Optionally, when the pulse width of the first pulse signal is larger than the first pulse width, the first pulse signal is adjusted to be output in the clockwise direction; when the direction is anticlockwise, the first pulse signal is adjusted to be output in a second pulse width; and the second pulse signal is always output with the third pulse width.
For example, in the clockwise direction, the pulse width of the first pulse signal is adjusted to 4 us; when the direction is anticlockwise, the pulse width of the first pulse signal is adjusted to be 6 us; and the pulse width of the second pulse signal is always 2 us.
Optionally, when the pulse width of the second pulse signal is clockwise, the second pulse signal is adjusted to be output with the first pulse width; when the direction is anticlockwise, adjusting the second pulse signal to output with a second pulse width; and the first pulse signal is always output with the third pulse width.
For example, in the clockwise direction, the pulse width of the second pulse signal is adjusted to 2 us; when the direction is anticlockwise, the pulse width of the second pulse signal is adjusted to be 4 us; and the pulse width of the first pulse signal is always 6 us.
Furthermore, when the modulation signal is processed subsequently, the pulse width information of the first pulse signal or the second pulse signal can be collected, and the rotation direction information corresponding to the pulse width information is matched, so that the rotation direction information of the incremental encoder can be obtained.
If the frequency of the change of the rotation direction of the incremental encoder is relatively high, the rotation direction information is integrated into the first pulse signal and the second pulse signal. For example, if the rotational direction of the incremental encoder changes at least once, for example, twice, three times, etc., during one rotational period thereof, the rotational direction information is integrated into the first pulse signal and the second pulse signal.
For example, the incremental encoder is provided on a motor shaft of the embroidery machine, which drives the embroidery needle to change a rotational direction at a high frequency to sew the laundry or the like.
Optionally, when the pulse width of the first pulse signal is larger than the pulse width of the second pulse signal, the pulse width of the second pulse signal is larger than the pulse width of the first pulse signal; and when the pulse width is in the anticlockwise direction, the first pulse signal is adjusted to be output in the second pulse width, and the second pulse signal is adjusted to be output in the fourth pulse width.
For example, in the clockwise direction, the pulse width of the first pulse signal is adjusted to 2us, and the pulse width of the second pulse signal is adjusted to 5 us; in the counterclockwise direction, the pulse width of the first pulse signal is adjusted to 3us, and the pulse width of the second pulse signal is adjusted to 6 us.
Furthermore, the incremental encoder can be reflected on the pulse width change of the first pulse signal or the second pulse signal no matter the change of the rotating direction occurs at any azimuth position of the rotating period, so that the rotating direction change information of the incremental encoder can be accurately obtained in real time, the deflection angle of the incremental encoder when the rotating direction changes can be further determined, and the control precision of a motor connected with the incremental encoder can be further improved.
Step 34: and respectively carrying out filtering processing on the A-phase signal and the B-phase signal.
Step 35: and after the rising edge of the zero-position signal is acquired, outputting a first pulse signal corresponding to the rising edge and the falling edge of the A-phase signal and the B-phase signal.
Step 36: and after the falling edge of the zero-position signal is acquired, outputting a second pulse signal corresponding to the rising edge and the falling edge of the A-phase signal and the B-phase signal.
Referring to fig. 7, fig. 7 is a schematic structural diagram of an embodiment of a modulation system of a delta encoder according to the present application.
The incremental encoder signal modulation system 100 comprises an incremental encoder 10 and a first processor 20, wherein the incremental encoder 10 is used for outputting an a-phase signal, a B-phase signal and a zero position signal; the first processor 20 is connected to the incremental encoder 10, and is configured to acquire an a-phase signal, a B-phase signal, and a zero-position signal.
After the first processor 20 acquires the rising edge of the zero-position signal, outputting a first pulse signal corresponding to the rising edge and the falling edge of the phase-A signal and the phase-B signal; when the first processor 20 acquires the falling edge of the zero signal, it outputs the second pulse signals corresponding to the rising edge and the falling edge of the a-phase signal and the B-phase signal. The first pulse signal is different from the second pulse signal, and the first pulse signal and the second pulse signal are both included in the modulation signal.
Optionally, the first pulse signal pulse width is greater than the second pulse signal pulse width.
That is, the first processor 20 modulates the collected a-phase signal, B-phase signal and zero-position signal into a modulation signal, and the first processor 20 determines the rotation direction of the incremental encoder 10 according to the collected a-phase signal and B-phase signal.
The incremental encoder 10 and the first processor 20 are connected by three signal lines, the three signal lines are respectively used for transmitting an a-phase signal, a B-phase signal and a zero-position signal, the first processor 20 determines the corresponding a-phase signal and B-phase signal from the corresponding signal lines, and the rotation direction of the incremental encoder 10 can be determined according to the waveform position relationship of the a-phase signal and the B-phase signal.
As shown in fig. 2, when the indication signal is 1 when the phase a signal and the phase B signal are at a high level and 0 when the phase B signal is at a low level, and when the waveform diagram from left to right in the figure is the waveform diagram when the rotation direction of the incremental encoder is clockwise, it can be seen that the waveform diagram when the rotation direction of the incremental encoder is counterclockwise is the waveform diagram when the rotation direction of the incremental encoder is from right to left in the figure. Therefore, when the first processor 20 acquires the direction information of the incremental encoder, if the indication signal of the a-phase signal acquired at the 1 st time is 1, the indication signal of the B-phase signal is 0, and the indication signal of the a-phase signal acquired at the 2 nd time is 1, and the indication signal of the B-phase signal is 1, it can be determined that the rotation direction of the incremental encoder is clockwise; if the indication signal of the A-phase signal collected at the 1 st moment is 1, the indication signal of the B-phase signal collected at the 2 nd moment is 1, and the indication signal of the B-phase signal collected at the 2 nd moment is 0, the rotation direction of the incremental encoder can be determined to be the anticlockwise direction.
Of course, there are other indication signal change rules that can determine the rotation direction of the incremental encoder, for example, if the indication signal acquired at the 2 nd time of the a-phase signal is 1, the indication signal acquired at the B-phase signal is 1, the indication signal acquired at the 3 rd time of the a-phase signal is 0, and the indication signal acquired at the B-phase signal is 1, it can be determined that the rotation direction of the incremental encoder is clockwise, and the like, which is not described in detail in this application.
After the first processor 20 acquires the rotation direction information of the incremental encoder, it can transmit the rotation direction information to the outside through another signal line; or the rotation direction information is integrated into the modulation signal and transmitted outwards along with the modulation signal, so that one signal line can be saved relatively.
Alternatively, the first processor 20 integrates the rotation direction information into the first pulse signal and/or the second pulse signal after acquiring the rotation direction information of the incremental encoder.
For example, when the rotation direction is clockwise or counterclockwise, the pulse width of the first pulse signal and/or the second pulse signal is correspondingly adjusted. The specific implementation manner has been described in the foregoing method embodiments, and is not described again.
The first processor 20 further performs filtering processing on the acquired a-phase signal and B-phase signal to filter out interference signals. In the above embodiment, the process of filtering the phase a signal and the phase B signal by the first processor 20 has been described in detail, and is not repeated herein.
Optionally, the first processor is an FPGA (Field-Programmable Gate Array), a CPU (Central Processing Unit), or the like.
Referring to fig. 8, fig. 8 is a flowchart illustrating an embodiment of a demodulation method of an incremental encoder according to the present disclosure.
Step 41: the first pulse signal and the second pulse signal are received.
The method includes receiving a first pulse signal and a second pulse signal, both included in a modulation signal.
Step 42: the starting position of the first pulse signal is identified, and the number of continuous first pulse signals or the number of first pulse signals and the subsequent second pulse signals is recorded from the starting position.
The start position of the first pulse signal is identified, that is, the first pulse signal corresponding to the rising edge of the zero signal is identified, and the position of the first pulse signal is marked as the start position.
The number of consecutive first pulse signals, or the number of first pulse signals and their subsequent second pulse signals, is recorded from the start position.
Step 43: and obtaining the ratio of the recorded number of the first pulse signals or the number of the first pulse signals and the second pulse signals subsequent to the first pulse signals to the total number of the first pulse signals and the second pulse signals in one period, and obtaining the product of the ratio and 360 degrees to further determine the deflection angle.
The number of lines of the incremental encoder is fixed, the total number of pulses of the corresponding A-phase signal and B-phase signal is determined, and the total number of the output first pulse signal and the second pulse signal is determined. For example, when the number of lines is 1000, the total number of the first pulse signal and the second pulse signal corresponding to one rotation (i.e. one period) of the grating plate of the incremental encoder is 4000.
And obtaining the ratio of the recorded number of the first pulse signals or the number of the first pulse signals and the second pulse signals subsequent to the first pulse signals to the total number of the first pulse signals and the second pulse signals in one period, and obtaining the product of the ratio and 360 degrees to further determine the deflection angle.
For example, if the number of the recorded first pulse signals and the second pulse signals is 2000, the deflection angle of the grating plate with respect to the initial position is 2000/4000 × 3600 ═ 1800.
Step 44: and obtaining the ratio of the deflection angle to the corresponding time length, and further obtaining the rotating speed.
And obtaining the ratio of the deflection angle to the corresponding time length, and further obtaining the rotating speed. Or step 45, step 46.
Step 45: and recording the number of the first pulse signals and/or the second pulse signals within a preset time length.
Recording the number of the first pulse signals and the number of the second pulse signals in a preset time length, namely, randomly marking one first pulse signal or one second pulse signal as a starting position, and starting to record the number of the collected pulse signals in the preset time length.
Step 46: and obtaining angle values corresponding to the recorded number of the first pulse signals and/or the second pulse signals, and taking the ratio of the angle values to preset time length to determine the rotating speed.
The ratio of the number of the recorded first pulse signals and/or second pulse signals to the total number of the first pulse signals and the second pulse signals in one period is obtained, the product of the ratio and 360 degrees is obtained, the angle value corresponding to the number of the recorded first pulse signals and/or second pulse signals is further obtained, the ratio of the angle value to the preset duration is obtained, and the rotating speed of the rotating shaft connected with the incremental encoder can be determined.
For example, the number of lines of the incremental encoder is still 1000, 2000 pulse signals are recorded in 0.01 second, and the rotation speed is 60x2000/4000/0.01 to 3000 r/min.
If the starting position and the ending position of the mark coincide with the positions corresponding to the measured deflection angles, the rotation speed can be measured and calculated by utilizing the deflection angles and the corresponding durations.
Referring to fig. 9, fig. 9 is a schematic flowchart of a demodulation method of an incremental encoder according to another embodiment of the present disclosure.
Step 51: the first pulse signal and the second pulse signal are received.
Step 52: the starting position of the first pulse signal is identified, and the number of continuous first pulse signals or the number of first pulse signals and the subsequent second pulse signals is recorded from the starting position.
Step 53: and obtaining the ratio of the recorded number of the first pulse signals or the number of the first pulse signals and the second pulse signals subsequent to the first pulse signals to the total number of the first pulse signals and the second pulse signals in one period, and obtaining the product of the ratio and 360 degrees to further determine the deflection angle.
Step 54: and obtaining the ratio of the deflection angle to the corresponding time length, and further obtaining the rotating speed.
Step 55: and recording the number of the first pulse signals and/or the second pulse signals within a preset time length.
Step 56: and obtaining angle values corresponding to the recorded number of the first pulse signals and/or the second pulse signals, and taking the ratio of the angle values to preset time length to determine the rotating speed.
And 57: the pulse width of the first pulse signal and/or the second pulse signal is acquired.
And acquiring the pulse width of the first pulse signal and/or the second pulse signal, wherein the pulse width data of the first pulse signal and/or the second pulse signal corresponds to the rotation direction information of the incremental encoder.
In the case where the frequency of the change in the rotational direction of the incremental encoder is high, the pulse widths of the first pulse signal and the second pulse signal are acquired. In the case where the frequency of change in the rotational direction of the incremental encoder is low, the pulse width of the first pulse signal or the second pulse signal is acquired.
Step 58: and matching the rotation direction information corresponding to the pulse width to further obtain the rotation direction information of the incremental encoder.
And acquiring the rotation direction information of the incremental encoder according to the corresponding relation between the pulse width of the first pulse signal and/or the second pulse signal and the rotation direction of the incremental encoder after acquiring the pulse width of the first pulse signal and/or the second pulse signal.
For example, the pulse width of the first pulse signal is 4us, which corresponds to the rotation direction of the incremental encoder being clockwise; the first pulse signal has a pulse width of 6us, which corresponds to a counterclockwise direction of rotation of the incremental encoder. And after the pulse width of the first pulse signal is detected, the rotating direction of the incremental encoder can be determined according to the corresponding relation between the corresponding pulse width data and the rotating direction information.
The embodiment does not describe how to obtain the rotation direction information of the incremental encoder through the pulse width of the second pulse signal.
Referring to fig. 10, fig. 10 is a schematic structural diagram of an embodiment of an incremental encoder signal demodulation system provided in the present application.
The incremental encoder signal demodulation system 200 includes a second processor 210.
The second processor 210 is configured to receive the first pulse signal and the second pulse signal, identify a start position of the first pulse signal, and record the number of consecutive first pulse signals from the start position, or the number of the first pulse signal and the number of the second pulse signals subsequent to the first pulse signal; and obtaining the number of the recorded first pulse signals or the ratio of the number of the first pulse signals and the number of the second pulse signals subsequent to the first pulse signals to the total number of the first pulse signals and the second pulse signals in one period, and obtaining the product of the ratio and 360 degrees to further determine the deflection angle.
Further, the second processor also obtains the ratio of the deflection angle to the corresponding elapsed time period, and further obtains the rotation speed.
Alternatively, the second processor 210 is further configured to record the number of the first pulse signals and/or the second pulse signals within a preset time duration, obtain an angle value corresponding to the recorded number of the first pulse signals and/or the second pulse signals, and take a ratio of the angle value to the preset time duration to determine the rotation speed.
Further, the second processor 210 is configured to acquire a pulse width of the first pulse signal or the second pulse signal, match the rotation direction information corresponding to the pulse width, and further obtain the rotation direction information of the incremental encoder.
With reference to the above description of the rotation direction of the incremental encoder, after the second processor 210 collects the pulse width of the first pulse signal and/or the second pulse signal, the rotation direction information of the incremental encoder can be obtained.
Referring to fig. 11, fig. 11 is a schematic structural diagram of an embodiment of an embroidery machine provided by the present application.
The embroidery machine 300 comprises an incremental encoder signal modulation system 100 as described above and an incremental encoder signal demodulation system 200 as described above, and the second processor 210 is coupled to the first processor 20.
The incremental encoder 10 is disposed on the rotating shaft 31 of the motor 30, the first processor 20 is connected to the incremental encoder 10, executes the program steps in the above embodiment of the incremental encoder signal modulation method, and outputs a first pulse signal and a second pulse signal; the second processor 210 is connected to the first processor 20 and configured to receive the first pulse signal and the second pulse signal, so as to control the motor 30 to adjust the motion state of the rotating shaft 31 according to the information of the first pulse signal and the second pulse signal.
The grating plate of the incremental encoder 10 is connected to the rotating shaft 31 and rotates with the rotating shaft 31, and then the incremental encoder 10 generates an a-phase signal, a B-phase signal and a zero-position signal.
The first pulse signal and the second pulse signal are both included in the modulation signal, that is, the first processor 20 modulates the a-phase signal, the B-phase signal and the zero-position signal collected from the incremental encoder 10 into the modulation signal, and transmits the modulation signal to the second processor 210, and the second processor 210 obtains the rotation speed, the real-time deflection angle and the rotation direction information of the rotating shaft according to the information carried by the modulation signal, and then adjusts and controls the motion state of the rotating shaft 31 according to the comparison between the information and the preset physical quantity (for example, the rotation speed) of the rotating shaft 31.
Optionally, the first processor 20 is a Field Programmable Gate Array (FPGA) and the second processor 210 is a Micro Control Unit (MCU). The incremental encoder 10 is connected to the first processor 20 through three signal lines, which are respectively used for transmitting an a-phase signal, a B-phase signal and a zero-position signal; the first processor 20 is connected to the second processor 210 through a signal line, the first processor 20 outputs a modulation signal to the second processor 210 through the signal line, and the signal output by the incremental encoder 10 is transmitted through only one signal line after being modulated, so that the first processor 20 is more conveniently connected to the second processor 210 relatively.
The signal (modulation signal) is processed, so that the speed of acquiring information is relatively increased, the pulse frequency of the modulation signal is increased relative to the pulse frequency of the A-phase signal or the B-phase signal, and the accuracy of acquiring information (deflection angle and rotating speed) is improved, so that the control on the rotating shaft of the motor is more accurate, and the rotating shaft can be kept in a more stable motion state.
For example, one end of the rotating shaft is connected to the embroidery needle of the embroidery machine 300, and the technical scheme provided by the application can enable the positioning of the embroidery needle to be more accurate, thereby improving the embroidery process of the embroidery machine 200.
Optionally, the first processor 20 and the second processor 210 are integrated on the same circuit board. Alternatively, the functions of the first processor 20 and the second processor 210 are replaced by a processor, for example, a CPU.
This application modulates A looks signal, B looks signal and zero position signal into modulation signal, and then makes zero position signal's interference killing feature reinforcing, and the incremental encoder 10's that second treater 210 obtained information is more accurate like this, and is more accurate to the pivot 31 control of motor 30.
The application discloses a modulation method and a modulation system of incremental encoder signals and an embroidery machine. The A-phase signal, the B-phase signal and the zero position signal output by the incremental encoder are modulated into a modulation signal, so that the anti-interference capacity of the signal in the transmission process is improved, and the data acquired through the modulation signal is more accurate.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings, or which are directly or indirectly applied to other related technical fields, are intended to be included within the scope of the present application.
Claims (14)
1. A method of modulating a signal of an incremental encoder, comprising:
collecting an A-phase signal, a B-phase signal and a zero position signal;
when the rising edge of the zero-position signal is collected, outputting first pulse signals respectively corresponding to the rising edge and the falling edge of the A-phase signal and the B-phase signal;
when the falling edge of the zero-position signal is collected, outputting second pulse signals respectively corresponding to the rising edge and the falling edge of the A-phase signal and the B-phase signal;
wherein the first pulse signal is different from the second pulse signal.
2. The modulation method according to claim 1, wherein the first pulse signal pulse width is larger than the second pulse signal pulse width.
3. The modulation method according to claim 1, wherein after the acquiring the a-phase signal and the B-phase signal, the method comprises: and respectively carrying out filtering processing on the A-phase signal and the B-phase signal.
4. The modulation method according to claim 3, wherein the step of filtering the a-phase signal and the B-phase signal respectively comprises:
judging whether a first edge and a second edge which are adjacent correspond to an A-phase signal or a B-phase signal or not, wherein the first edge and the second edge both comprise a rising edge or a falling edge of the A-phase signal or the B-phase signal;
and if the adjacent first edge and the second edge both correspond to the A-phase signal or the B-phase signal, filtering out the first edge or the second edge.
5. The modulation method according to claim 1, wherein the step of acquiring the a-phase signal, the B-phase signal and the null signal is followed by the step of:
acquiring the rotation direction information of the incremental encoder;
integrating the rotational direction information into the first pulse signal and/or the second pulse signal.
6. A system for incremental encoder signal modulation, comprising:
the incremental encoder is used for outputting an A-phase signal, a B-phase signal and a zero position signal;
the first processor is connected with the encoder and used for acquiring the phase A signal, the phase B signal and the zero position signal;
after the first processor collects the rising edge of the zero-position signal, first pulse signals corresponding to the rising edge and the falling edge of the A-phase signal and the B-phase signal are output; when the first processor acquires the falling edge of the zero-position signal, outputting second pulse signals respectively corresponding to the rising edge and the falling edge of the A-phase signal and the B-phase signal; the first pulse signal is different from the second pulse signal.
7. The modulation system according to claim 6, wherein the first processor further determines whether adjacent first and second edges each correspond to an A-phase signal or a B-phase signal, the first and second edges each comprising a rising or falling edge of the A-phase signal or the B-phase signal;
and if the adjacent first edge and the second edge both correspond to the A-phase signal or the B-phase signal, filtering out the first edge or the second edge.
8. The modulation system according to claim 6, wherein the first processor is further configured to obtain rotation direction information of the incremental encoder and integrate the rotation direction information into the first pulse signal and/or the second pulse signal.
9. A method for demodulating an incremental encoder signal, comprising:
collecting an A-phase signal, a B-phase signal and a zero position signal;
when the rising edge of the zero-position signal is collected, outputting first pulse signals respectively corresponding to the rising edge and the falling edge of the A-phase signal and the B-phase signal;
when the falling edge of the zero-position signal is collected, outputting second pulse signals respectively corresponding to the rising edge and the falling edge of the A-phase signal and the B-phase signal; wherein the first pulse signal is different from the second pulse signal;
receiving a first pulse signal and a second pulse signal;
identifying a starting position of the first pulse signal and recording the number of continuous first pulse signals from the starting position or the number of the first pulse signals and the second pulse signals subsequent to the first pulse signals;
obtaining the number of the recorded first pulse signals or the ratio of the number of the first pulse signals and the number of the second pulse signals to the total number of the first pulse signals and the second pulse signals in one period, and obtaining the product of the ratio and 360 degrees to further determine the deflection angle;
obtaining the ratio of the deflection angle to the corresponding spent time, and further obtaining the rotating speed, or:
recording the number of the first pulse signals and/or the second pulse signals in a preset time length;
and obtaining angle values corresponding to the recorded number of the first pulse signals and/or the second pulse signals, and taking the ratio of the angle values to the preset time length to determine the rotating speed.
10. The demodulation method according to claim 9, wherein after receiving the first pulse signal and the second pulse signal, the method further comprises:
acquiring the pulse width of the first pulse signal and/or the second pulse signal;
and matching the rotation direction information corresponding to the pulse width to further obtain the rotation direction information of the incremental encoder.
11. An incremental encoder signal demodulation system, comprising:
the second processor is used for acquiring an A-phase signal, a B-phase signal and a zero position signal;
when the rising edge of the zero-position signal is collected, outputting first pulse signals respectively corresponding to the rising edge and the falling edge of the A-phase signal and the B-phase signal;
when the falling edge of the zero-position signal is collected, outputting second pulse signals respectively corresponding to the rising edge and the falling edge of the A-phase signal and the B-phase signal; wherein the first pulse signal is different from the second pulse signal;
receiving a first pulse signal and a second pulse signal;
identifying a starting position of the first pulse signal and recording the number of continuous first pulse signals from the starting position or the number of the first pulse signals and the second pulse signals subsequent to the first pulse signals;
obtaining the number of the recorded first pulse signals or the ratio of the number of the first pulse signals and the second pulse signals subsequent to the first pulse signals to the total number of the first pulse signals and the second pulse signals in one period, and obtaining the product of the ratio and 360 degrees to further determine the deflection angle;
obtaining the ratio of the deflection angle to the corresponding spent time, and further obtaining the rotating speed, or:
recording the number of the first pulse signals and/or the second pulse signals in a preset time length;
and obtaining angle values corresponding to the recorded number of the first pulse signals and/or the second pulse signals, and taking the ratio of the angle values to the preset time length to determine the rotating speed.
12. The demodulation system of claim 11 wherein the second processor is further configured to acquire a pulse width of the first pulse signal and/or the second pulse signal, match the rotation direction information corresponding to the pulse width, and obtain the rotation direction information of the incremental encoder.
13. An embroidery machine, comprising:
a delta encoder signal modulation system as claimed in any one of claims 6 to 8 and a delta encoder signal demodulation system as claimed in claim 11 or 12, said second processor being coupled to said first processor.
14. The embroidery machine of claim 13, wherein the first processor is a field programmable gate array, the second processor is a micro control unit, the incremental encoder is connected to the first processor via three signal lines to output the a-phase signal, the B-phase signal and the zero-bit signal, respectively, and the first processor is connected to the second processor via one signal line to output the first pulse signal and the second pulse signal.
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