CN110672957A - Encoder signal fault detection device and method - Google Patents
Encoder signal fault detection device and method Download PDFInfo
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- CN110672957A CN110672957A CN201910975179.5A CN201910975179A CN110672957A CN 110672957 A CN110672957 A CN 110672957A CN 201910975179 A CN201910975179 A CN 201910975179A CN 110672957 A CN110672957 A CN 110672957A
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Abstract
The invention discloses a device and a method for detecting signal faults of an encoder. Wherein, the device includes: the three optical coupling units are used for respectively detecting three-phase output signals of the encoder, the three optical coupling units are mutually connected in series, and the output ends of the three optical coupling units output encoder fault output signals; the optical coupling unit comprises a unidirectional optical coupler, a diode array and a current-limiting resistor, the unidirectional optical coupler is connected with the output end of the diode array, the current-limiting resistor is connected between the input end of the unidirectional optical coupler and the output end of the diode array, and the input end of the diode array is connected with one-phase output end of the encoder. The invention solves the technical problem of higher cost of a device for detecting the fault of the encoder by the bidirectional optocoupler in the related technology.
Description
Technical Field
The invention relates to the field of fault detection, in particular to a device and a method for detecting a signal fault of an encoder.
Background
In the field of servo motor control, an encoder is a device used for outputting a motor optional state on a motor, generally, the encoder of the motor can output a plurality of signals to a servo controller, and the servo controller judges the motor running state according to the received signals and controls the motor. Therefore, the output signal of the encoder is crucial for the controller, and when the output signal of the encoder has a fault, such as a damaged encoder, a short circuit or an open circuit of the encoder line, it is a very serious fault for the controller, and once the fault occurs, the controller must immediately acquire the fault occurrence and start a fault protection program.
Therefore, encoder fault detection is an important circuit in the field of servo controllers, electric vehicle motor control, and the like. At present, in the field of encoder signal fault detection, there are two main methods of algorithm judgment and hardware detection. In the related technology, hardware detection usually utilizes the bidirectional conduction characteristic of a bidirectional optical coupler on hardware to realize the purpose of detecting the signal fault of an encoder, and then outputs of three bidirectional optical couplers are connected in series to obtain a final fault signal.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a device and a method for detecting a signal fault of an encoder, which are used for at least solving the technical problem of higher cost of a device for detecting the fault of the encoder by a bidirectional optical coupler in the related art.
According to an aspect of an embodiment of the present invention, there is provided an encoder signal failure detection apparatus including: the three optical coupling units are connected in series, and output ends of the three optical coupling units output encoder fault output signals; the optical coupling unit comprises an unidirectional optical coupler, a diode array and a current-limiting resistor, the unidirectional optical coupler is connected with the output end of the diode array, the input end of the unidirectional optical coupler is connected with the current-limiting resistor between the output ends of the diode array, and the input end of the diode array is connected with the phase output end of the encoder.
Optionally, the method further includes: a filter capacitor; the filter capacitor is connected with the three optocoupler units which are connected in series mutually in parallel and used for filtering noise of the encoder fault output signal.
Optionally, the method further includes: a pull-up resistor; the pull-up resistor is connected to the output ends of the three optical coupling units which are connected in series, and is used for providing pull-up voltage for the encoder fault output signal.
Optionally, the diode array is used for rectifying an input single-phase two-wire output signal of the encoder into a continuous unidirectional direct current signal; the diode array comprises four diodes, wherein the output end of the first diode is connected with the input end of the second diode, the output end of the second diode is connected with the output end of the third diode, the input end of the third diode is connected with the output end of the fourth diode, and the input end of the fourth diode is connected with the input end of the diode.
According to another aspect of the embodiments of the present invention, there is also provided an encoder signal failure detection method, including: three-phase output signals of the encoder are respectively connected into three optical coupling units; rectifying a single-phase output signal of the encoder into direct current with a constant direction through a diode array of the optical coupling unit, and connecting the direct current into a unidirectional optical coupler of the optical coupling unit, wherein the direction of the direct current is the conduction direction of the unidirectional optical coupler; and determining an output signal for identifying whether the output signal of the encoder is in fault or not according to whether the unidirectional optical coupler is conducted or not.
Optionally, determining whether the output signal used for identifying whether the output signal of the encoder fails according to whether the unidirectional optical coupler is turned on includes: and connecting the three optical coupling units in series to output the output signal, wherein the output signal is determined to be at a low level under the condition that the three optical couplings are all switched on, and the output signal is determined to be at a high level under the condition that any one optical coupling unit is not switched on.
Optionally, the method further includes: and switching on the output signal and a pull-up resistor, and pulling up the amplitude of the high level under the condition that the output signal is at the high level.
According to another aspect of the embodiments of the present invention, there is also provided an encoder signal failure detection apparatus, including: the access module is used for respectively accessing three-phase output signals of the encoder into the three optical coupling units; the rectifier module is used for rectifying a single-phase output signal of the encoder into direct current with a constant direction through a diode array of the optical coupling unit and connecting the direct current into a unidirectional optical coupler of the optical coupling unit, wherein the direction of the direct current is the conduction direction of the unidirectional optical coupler; and the determining module is used for determining an output signal for identifying whether the output signal of the encoder is in fault or not through whether the unidirectional optical coupler is conducted or not.
According to another aspect of the embodiments of the present invention, there is also provided a storage medium, where the storage medium includes a stored program, and when the program runs, a device in which the storage medium is located is controlled to execute any one of the above methods.
According to another aspect of the embodiments of the present invention, there is also provided a processor, configured to execute a program, where the program executes to perform the method described in any one of the above.
In the embodiment of the invention, three optical coupling units for respectively detecting three-phase output signals of an encoder are adopted, the three optical coupling units are mutually connected in series, and the output ends of the three optical coupling units output encoder fault output signals; the opto-coupler unit includes one-way opto-coupler, diode array and current-limiting resistor, one-way opto-coupler links to each other with diode array's output, be connected with current-limiting resistor between one-way opto-coupler's the input and diode array's the output, the mode that diode array's input and a looks output link to each other of encoder, output signal conversion with the encoder through diode array is the fixed direct current of direction that lasts, from can detecting whether the output signal of encoder breaks down according to one-way opto-coupler, the purpose of effectively detecting is carried out to the output signal of encoder through one-way opto-coupler has been reached, thereby realized with lower cost's mode, the output signal to the encoder carries out the technological effect of effectively detecting, and then carried out fault detection's device through two-way opto-coupler to the encoder among.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic diagram of an encoder signal failure detection arrangement according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a detection circuit according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a waveform of a phase output signal of an encoder according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an output case of an encoder output signal according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of another output case of an encoder output signal according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of another detection circuit according to an embodiment of the present invention;
FIG. 7 is a flow chart of a method of encoder signal failure detection according to an embodiment of the present invention;
fig. 8 is a schematic diagram of another encoder signal failure detection apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, 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 invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In accordance with an embodiment of the present invention, there is provided an embodiment of an encoder signal failure detection apparatus, it is noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions, and that while a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than here.
Fig. 1 is a schematic diagram of an encoder signal failure detection apparatus according to an embodiment of the present invention, as shown in fig. 1, the apparatus including:
the three optical coupling units 12 are used for respectively detecting three-phase output signals of the encoder, the three optical coupling units 12 are mutually connected in series, and the output ends of the three optical coupling units 12 output encoder fault output signals; the optical coupling unit 12 comprises a unidirectional optical coupler 122, a diode array 124 and a current limiting resistor 126, the unidirectional optical coupler 122 is connected with the output end of the diode array 124, the current limiting resistor 126 is connected between the input end of the unidirectional optical coupler 122 and the output end of the diode array 124, and the input end of the diode array 124 is connected with one-phase output end of the encoder.
The device adopts three optical coupling units for respectively detecting three-phase output signals of the encoder, the three optical coupling units are mutually connected in series, and the output ends of the three optical coupling units output encoder fault output signals; the opto-coupler unit includes one-way opto-coupler, diode array and current-limiting resistor, one-way opto-coupler links to each other with diode array's output, be connected with current-limiting resistor between one-way opto-coupler's the input and diode array's the output, the mode that diode array's input and a looks output link to each other of encoder, output signal conversion with the encoder through diode array is the fixed direct current of direction that lasts, from can detecting whether the output signal of encoder breaks down according to one-way opto-coupler, the purpose of effectively detecting is carried out to the output signal of encoder through one-way opto-coupler has been reached, thereby realized with lower cost's mode, the output signal to the encoder carries out the technological effect of effectively detecting, and then carried out fault detection's device through two-way opto-coupler to the encoder among.
The output signal of the editor can be a three-phase six-wire, each of the three-phase six-wire is connected to an optical coupling unit, the editor can be specifically connected to the input end of the diode array, the diode array talks about a single-phase two-wire signal output by the editor, the rectification is direct current with a fixed direction, the direct current is output from one output end of the diode array and is connected with the input end of the unidirectional optical coupler, the input end is a direct current input end conducted by the unidirectional optical coupler, and the other input end of the unidirectional optical coupler is connected with the other output end of the diode array, so that the unidirectional optical coupler is ensured to be continuously conducted, and a target point in a circuit.
Once any phase signal in the output signals of the editor fails, the output end of the diode array rectification cannot continuously output direct current, and under the condition of a direct current terminal, single-phase optocoupler blocking is caused, so that an open circuit is generated in a circuit, the target point in the circuit is raised, and high level is input. Therefore, detection can be carried out according to the point position of the target position in the circuit, and whether the output signal of the encoder is in fault or not can be detected.
Optionally, the method further includes: a filter capacitor; the filter capacitor is connected with the three optocoupler units which are connected in series mutually in parallel and used for filtering noise of a fault output signal of the encoder.
The filter capacitor filters the output signals of the three optical coupling units, so that the output signals are more accurate and stable.
Optionally, the method further includes: a pull-up resistor; the pull-up resistor is connected to the output ends of the three optocoupler units which are connected in series, and is used for providing pull-up voltage for the encoder fault output signal.
The pull-up resistor improves the high level of the output signal, so that the low level and the high level are more obvious, and the error rate of the output signal is reduced.
Optionally, the diode array is used for rectifying an input single-phase two-wire output signal of the encoder into a continuous unidirectional direct current signal; the diode array comprises four diodes, wherein the output end of the first diode is connected with the input end of the second diode, the output end of the second diode is connected with the output end of the third diode, the input end of the third diode is connected with the output end of the fourth diode, and the input end of the fourth diode is connected with the input end of the first diode.
As shown in fig. 4 and 5, the first diode may be a diode D11, the second diode may be a diode D12, the third diode may be a diode D13, the fourth diode may be a diode D14, D11 and D12 are connected end to end, that is, an output terminal of D11 is connected to an input terminal of D12, and D14 and D13 are connected end to end, that is, an output terminal of D14 is connected to an input terminal of D13. The input of D11 is connected to the input of D14 and the output of D12 is connected to the output of D13. The input end of the first diode D11 and the output end of the second diode D12 are two output ends of the diode array, respectively, it should be noted that the input end of D11 is the same as the input end of D14, and the output end of D12 is the same as the output end of D13. The two output ends are connected with two ports 1 and 2 of the unidirectional optical coupler. The output end of the first diode D11 and the output end of the fourth diode D14 are two input ends of the diode array, it should be noted that the output end of D11 is the same as the input end of D12, and the output end of D14 is the same as the input end of D13. The single-phase double-line output signals A + and A-of the encoder are respectively input into two input ends.
It should be noted that this embodiment also provides an alternative implementation, which is described below.
This embodiment provides an encoder signal fault detection circuit based on unidirectional optical coupler, can detect the emergence of encoder signal fault fast, and this circuit need not use bidirectional optical coupler, does not have the limit value of direction to using the optical coupler, has reduced detection circuitry's cost.
According to the method, the unidirectional optical coupler is used, the signal polarity conversion circuit is constructed, the function of detecting the signal fault of the encoder is achieved, the method does not depend on the bidirectional optical coupler, and the most common unidirectional optical coupler can be adopted.
The difference of this embodiment is that the optical coupler used in the circuit in this embodiment is a unidirectional optical coupler, and before the signal is connected to the optical coupler, a signal polarity conversion array formed by a diode bridge is further provided.
Fig. 2 is a schematic diagram of a detection circuit according to an embodiment of the present invention, and as shown in fig. 2, the circuit of the embodiment is shown. In the circuit, U1, U2 and U3 are unidirectional optical couplers and are responsible for signal isolation and conversion; d1, D2 and D3 are diode arrays for signal polarity conversion, and can convert bipolar differential signals into unidirectional signals; r2, R3 and R4 are current limiting resistors and are used for limiting the current on the input side of the optical coupler; r1 is a signal pull-up resistor for providing the pull-up required for high level for the signal; c1 is a filter capacitor for filtering noise on the output signal; the signals A +, A-, B +, B-, C + and C-are six-line signals of 3 phases output by the encoder, and are signals which need to be detected in the embodiment; signal ENCODER _ ERR is an ENCODER fault output signal.
Fig. 3 is a schematic diagram of a waveform of a one-phase output signal of an encoder according to an embodiment of the present invention, and as shown in fig. 3, is a typical waveform of the encoder output signal. Taking the phase A output as an example, A + and A-respectively have high and low level states, and under the normal working condition, the high and low level states of A + and A-are opposite, namely when A + is high, A-is low, and when A + is low, A-is high. So at any instant the difference between the two line voltages is either positive or negative (high down is positive and low down is negative).
Fig. 4 is a schematic diagram of an output situation of an encoder output signal according to an embodiment of the present invention, as shown in fig. 4, which is a signal conduction path of a signal on the input side of the unidirectional optical coupler when a + is high and a-is low shown in the circuit of the embodiment, wherein D11-D14 are four diodes in the diode array D1.
Fig. 5 is a schematic diagram of another output condition of the encoder output signal according to the embodiment of the present invention, as shown in fig. 5, which is a signal conduction path of the signal at the input side of the unidirectional optical coupler when a + is low and a-is high shown in the circuit of the embodiment, wherein D11-D14 are four diodes in the diode array D1.
How this circuit works is described in detail below:
as shown in fig. 3, the encoder output signals a + and a-are normally signals that are inverted from high to low at any time, and the difference between the two signals is either positive or negative. In the circuit in this embodiment, the presence of the diode arrays D1, D2, and D3 makes the input side of the optocoupler certainly in the forward conduction state regardless of whether a +, a-is high or low. The explanation is as follows:
for example, as shown in fig. 4, when a + is high and a-is low, when a signal passes through the optical coupler input side circuit, D12 in D1 is in forward bias conduction, D14 is in forward bias conduction, so that positive charges in the signal can flow back to the a-terminal from the a + terminal through D12, R2, the optical coupler U1 and D14, the optical coupler U1 is in a conduction state, and at this time, D11 and D13 in D1 are in reverse voltage bias and cannot be conducted; for another example, as shown in fig. 5, when a + is low and a-is high, D13 and D11 in D1 are forward biased to conduct, D12 and D14 are reverse biased to not conduct, so that positive charges in the signal can flow from the a-terminal through D13, R2, optocoupler U1, D11 and back to the a + terminal, and optocoupler U1 is still in a conducting state. It can be seen that due to the existence of the diode array D1, the function that the optical coupler can conduct in the forward direction regardless of the positive and negative directions of the signals is realized.
The output of three optocouplers U1, U2, U3 in the circuit shown in fig. 2 are used in series and one end is connected to ground and the other end is pulled up through a resistor. When the optocouplers U1, U2 and U3 are all conducted, the signal ENCODER _ ERR is equivalent to grounding and is at a low level; when any one of the optical couplers is not conducted, the signal ENCODER _ ERR is not connected with the ground, so that the signal ENCODER _ ERR is pulled up by the resistor R1 and becomes high level.
In the circuit of the embodiment, when several signals output by the ENCODER are normal, no matter what the signal polarity is, the diode array realizes the signal polarity conversion at any moment, so that the optocouplers U1, U2 and U3 are all in a conducting state, and therefore, the signal ENCODER _ ERR is grounded and outputs a low level; when a signal of the ENCODER fails, the corresponding optocoupler cannot be switched on, so that the signal ENCODER _ ERR is disconnected with the ground, and a high level is output.
The resistors R2, R3, and R4 are current limiting resistors, and need to be calculated according to parameters such as encoder signal amplitude, forward conduction voltage drop of the used optocoupler, and the like. The resistor R1 bit signal pull-up resistor needs to be calculated according to the selected optical coupler conduction parameter, the subsequent signal processing unit receiving capacity and the like. The capacitor C1 is a filter capacitor, and is generally selected based on empirical values. The diode arrays D1, D2 and D3 can be built by 4 independent diodes, and considering that the frequency of the encoder signals is low and the amplitude is generally more than 3V, the selection of the diodes hardly has a limit condition, and the most common elements are used for realizing the circuit function.
In this embodiment, the filter capacitor C1 may be eliminated or adjusted, and is not a mandatory component, and the current limiting resistors R2, R3, and R4 may be placed at the positive electrode (for example, pin 1 in the figure) or the negative electrode (for example, pin 2 in the figure) of the input side of the optical coupler, and other elements cannot be adjusted. Fig. 6 is a schematic diagram of another detection circuit according to an embodiment of the present invention, and as shown in fig. 6, the detection circuit is another connection method of the embodiment, in which a filter capacitor is placed on the input side of an opto-coupler, and the rest is the same as that in fig. 2.
The circuit can be applied to detection of signal failure of the encoder, and can also be applied to detection of any other signal disconnection, and is not limited to a specific application occasion. For example, the circuit structure can be used for detecting RS232 disconnection after circuit parameters are adjusted.
Fig. 7 is a flowchart of an encoder signal failure detection method according to an embodiment of the present invention, and as shown in fig. 7, according to another aspect of the embodiment of the present invention, there is also provided an encoder signal failure detection method, including the steps of:
step S702, respectively connecting three-phase output signals of the encoder into three optocoupler units;
step S704, rectifying the single-phase output signal of the encoder into direct current with constant direction through a diode array of the optical coupling unit, and connecting the direct current into a unidirectional optical coupler of the optical coupling unit, wherein the direction of the direct current is the conduction direction of the unidirectional optical coupler;
and step S706, determining whether the output signal for identifying whether the output signal of the encoder is in fault or not through whether the unidirectional optical coupler is conducted or not.
Through the steps, three-phase output signals of the encoder are respectively connected into three optical coupling units; rectifying a single-phase output signal of the encoder into direct current with a constant direction through a diode array of the optical coupling unit, and connecting the direct current into a unidirectional optical coupler of the optical coupling unit, wherein the direction of the direct current is the conduction direction of the unidirectional optical coupler; whether switch on the mode of confirming the output signal who is used for the output signal of sign encoder whether trouble through one-way opto-coupler, the output signal conversion of encoder is the fixed direct current of direction that lasts through the diode array, whether the output signal that can detect the encoder from according to one-way opto-coupler is trouble, the purpose of carrying out effective detection through one-way opto-coupler to the output signal of encoder has been reached, thereby realized with the mode of lower cost, carry out the technological effect of effective detection to the output signal of encoder, and then solved among the correlation technique and carried out fault detection's device to the encoder through two-way opto-coupler, the higher technical problem of cost.
Optionally, determining whether the output signal for identifying whether the output signal of the encoder is faulty through whether the unidirectional optical coupler is turned on includes: the three optical coupling units are connected in series to output an output signal, wherein the output signal is determined to be at a low level under the condition that the three optical couplings are all conducted, and the output signal is determined to be at a high level under the condition that any one optical coupling unit is not conducted.
Optionally, the method further includes: and switching on the output signal and the pull-up resistor, and pulling up the amplitude of the high level under the condition that the output signal is the high level.
Fig. 8 is a schematic diagram of another encoder signal failure detection apparatus according to an embodiment of the present invention, and as shown in fig. 8, according to another aspect of the embodiment of the present invention, there is also provided an encoder signal failure detection apparatus including: an access module 82, a rectification module 84 and a determination module 86, which are described in detail below.
The access module 82 is used for respectively accessing three-phase output signals of the encoder into the three optical coupling units; a rectifying module 84 connected to the access module 82, for rectifying the single-phase output signal of the encoder into a direct current with a constant direction through the diode array of the optical coupling unit, and accessing the direct current to the unidirectional optical coupler of the optical coupling unit, wherein the direction of the direct current is the conduction direction of the unidirectional optical coupler; and a determining module 86, connected to the rectifying module 84, for determining whether the output signal of the encoder is faulty or not by whether the unidirectional optical coupler is turned on or not.
By the device, the three-phase output signals of the encoder are respectively connected into the three optical coupling units by the connecting module 82; the rectifying module 84 rectifies the single-phase output signal of the encoder into direct current with a constant direction through a diode array of the optical coupling unit, and accesses the direct current into a unidirectional optical coupler of the optical coupling unit, wherein the direction of the direct current is the conduction direction of the unidirectional optical coupler; confirm whether module 86 switches on the mode of confirming the output signal whether trouble that is used for the output signal of sign encoder through the one-way opto-coupler, convert the output signal of encoder into the fixed direct current of direction that lasts through the diode array, whether the output signal that can detect the encoder from according to the one-way opto-coupler breaks down, the purpose of effectively detecting the output signal of encoder through the one-way opto-coupler has been reached, thereby realized with lower cost's mode, carry out the technological effect of effective detection to the output signal of encoder, and then solved among the correlation technique and carried out fault detection's device to the encoder through the two-way opto-coupler, the higher technical problem of cost.
According to another aspect of the embodiments of the present invention, there is also provided a storage medium including a stored program, wherein when the program runs, a device in which the storage medium is located is controlled to execute the method of any one of the above.
According to another aspect of the embodiments of the present invention, there is also provided a processor, configured to execute a program, where the program executes to perform the method of any one of the above.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. An encoder signal failure detection apparatus, comprising: the three optical coupling units are connected in series, and output ends of the three optical coupling units output encoder fault output signals;
the optical coupling unit comprises an unidirectional optical coupler, a diode array and a current-limiting resistor, the unidirectional optical coupler is connected with the output end of the diode array, the input end of the unidirectional optical coupler is connected with the current-limiting resistor between the output ends of the diode array, and the input end of the diode array is connected with the phase output end of the encoder.
2. The apparatus of claim 1, further comprising: a filter capacitor;
the filter capacitor is connected with the three optocoupler units which are connected in series mutually in parallel and used for filtering noise of the encoder fault output signal.
3. The apparatus of claim 1, further comprising: a pull-up resistor;
the pull-up resistor is connected to the output ends of the three optical coupling units which are connected in series, and is used for providing pull-up voltage for the encoder fault output signal.
4. The apparatus of claim 1, wherein the diode array is configured to rectify an input encoder single-phase two-wire output signal into a continuous unidirectional direct current signal;
the diode array comprises four diodes, wherein the output end of the first diode is connected with the input end of the second diode, the output end of the second diode is connected with the output end of the third diode, the input end of the third diode is connected with the output end of the fourth diode, and the input end of the fourth diode is connected with the input end of the diode.
5. A method of encoder signal failure detection, comprising:
three-phase output signals of the encoder are respectively connected into three optical coupling units;
rectifying a single-phase output signal of the encoder into direct current with a constant direction through a diode array of the optical coupling unit, and connecting the direct current into a unidirectional optical coupler of the optical coupling unit, wherein the direction of the direct current is the conduction direction of the unidirectional optical coupler;
and determining whether the output signal used for identifying the encoder is a fault output signal according to whether the unidirectional optical coupler is conducted.
6. The method of claim 5, wherein determining the output signal for identifying whether the output signal of the encoder is faulty by whether the unidirectional optical coupler is conductive comprises:
and connecting the three optical coupling units in series to output the output signal, wherein the output signal is determined to be at a low level under the condition that the three optical couplings are all switched on, and the output signal is determined to be at a high level under the condition that any one optical coupling unit is not switched on.
7. The method of claim 6, further comprising:
and switching on the output signal and a pull-up resistor, and pulling up the amplitude of the high level under the condition that the output signal is at the high level.
8. An encoder signal failure detection apparatus, comprising:
the access module is used for respectively accessing three-phase output signals of the encoder into the three optical coupling units;
the rectifier module is used for rectifying a single-phase output signal of the encoder into direct current with a constant direction through a diode array of the optical coupling unit and connecting the direct current into a unidirectional optical coupler of the optical coupling unit, wherein the direction of the direct current is the conduction direction of the unidirectional optical coupler;
and the determining module is used for determining whether the output signal used for identifying the encoder is a fault output signal according to whether the unidirectional optical coupler is conducted.
9. A storage medium, comprising a stored program, wherein the program, when executed, controls an apparatus in which the storage medium is located to perform the method of any one of claims 5 to 7.
10. A processor, characterized in that the processor is configured to run a program, wherein the program when running performs the method of any of claims 5 to 7.
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