CN110798205A - Zero position detection method and system for orthogonal coding pulse signal - Google Patents
Zero position detection method and system for orthogonal coding pulse signal Download PDFInfo
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Abstract
The invention discloses a zero position detection method and a system of orthogonal coding pulse signals, which are characterized in that input signals are converted into counting direction signals, counting pulse signals and zero position pulse signals, an initial zero position is determined according to a detected first zero position pulse signal, change information, a position count value and a counting direction signal of the orthogonal coding pulse signals when the initial zero position occurs generate a history record table, reverse prediction is carried out according to the position count value when reverse change occurs to obtain predicted zero position signal information, and if the zero position signal information of the orthogonal coding pulse signals after the reverse change is consistent with the predicted zero position signal information, a reverse zero position point is obtained; if the zero-position signal information of the orthogonal coding pulse signal after the reversal is inconsistent with the predicted zero-position signal information, the zero-position signal information of the orthogonal coding pulse signal after the reversal is taken as an initial zero position.
Description
Technical Field
The invention belongs to the field of integrated circuit design, and relates to a zero detection method and a zero detection system for orthogonal coding pulse signals.
Background
The motor is an important executive component of an on-board electronic system, and the speed and position measurement of the motor is an important task to be completed by a control system of the motor. Linear or incremental photoelectric encoders are the primary form of speed and position sensors for motors that are capable of generating quadrature encoded pulse signals (QEP) for a user to design appropriate circuitry to measure the speed and position of the motor. At present, detection of a QEP signal is generally realized by using an event management module or an enhanced orthogonal coding pulse module of a DSP chip such as TMS320F2812, and although QEP encoding and counting can be realized by using the DSP chip, when a forward pulse signal and a reverse pulse signal exist in an orthogonal coding pulse, zero position detection thereof has an error, and error encoding correction is required afterwards, so that effective encoding counting cannot be realized to obtain an accurate zero position signal, and further, counting errors are easily caused.
Disclosure of Invention
The invention aims to provide a zero position detection method and a zero position detection system for orthogonal coding pulse signals, which aim to solve the problem that the prior art cannot realize effective coding counting to obtain accurate zero position signals.
In order to achieve the purpose, the invention adopts the following technical scheme:
a zero detection method of orthogonal coding pulse signals comprises the following steps:
step 1), acquiring an orthogonal coding pulse signal as an input signal, and converting the input signal into a counting direction signal, a counting pulse signal and a zero pulse signal;
step 2), when a first zero pulse signal is detected, recording a first counting pulse signal after the first zero pulse signal as an initial zero position, and recording a counting direction signal of the orthogonal coding pulse signal at the moment; generating a history record table by using the edge change information, the position count value and the counting direction signal of the orthogonal coding pulse signal when the initial zero position occurs, and using the history record table as a first line of the history record table;
step 3), if the counting direction signal is not reversely changed, when detecting the orthogonal pulse signal point consistent with the edge change information, the position counting value and the counting direction signal of the initial zero position information, the orthogonal pulse signal point is a zero position point;
if the counting direction signal is reversely changed, recording a position counting value when the reverse change is generated, performing reverse prediction according to the position counting value when the reverse change is generated to obtain predicted zero position signal information, and if the zero position signal information of the reversely-converted orthogonal coding pulse signal is detected to be consistent with the predicted zero position signal information, obtaining a reversely-converted zero position point; if the zero position signal information of the orthogonal coding pulse signal after reversal is detected to be inconsistent with the predicted zero position signal information, the zero position signal information of the orthogonal coding pulse signal after reversal is taken as an initial zero position, and the edge change information, the position count value and the counting direction signal information of the orthogonal coding pulse signal are recorded through a history list, so that the zero position detection of the orthogonal coding pulse signal is completed.
Further, in step 1), the orthogonal coding pulse signal includes a pulse signal and a null signal.
Further, the pulse signals comprise QEPIN pulse signals and QEPBIN pulse signals, both QEPIN and QEPBIN in the quadrature input mode are pulse signals, and a phase difference exists between the QEPIN pulse signals and the QEPBIN pulse signals; QEPTIN is a level signal for indicating the current counting direction signal in the direction input mode, and QEPAIN is a pulse signal.
Further, the zero position signal QEPZIN is a pulse signal for indicating that the current code is at a zero position.
Further, in step 3), in the quadrature input mode, the counting pulse signal QPLS is generated at all the transition times of the QEPAIN pulse signal and the qebpin pulse signal; in the directional input mode, the count pulse signal QPLS is generated at all transition times of the QEPAIN pulse signal.
Further, current creeping information, position count values and pulse counting direction signals are recorded into a history record table when the current creeping information, the position count values and the pulse counting direction signals reach zero points or are switched in direction each time; when the history tables are full, the zero-position history records for storing the direction switching information are replaced at first, when all the history tables are the zero-position records, the zero-position history records are replaced from the second row to the last row in a circulating mode, and the information in the first row is kept unchanged.
A zero position detection system of orthogonal coding pulse signals comprises an orthogonal decoding unit, a position counting unit and a self-adaptive zero position detection unit;
the orthogonal decoding unit converts the orthogonal coding pulse signals into counting direction signals, counting pulse signals and zero pulse signals, and transmits the obtained counting direction signals, counting pulse signals and zero pulse signals to the position counting unit;
the position counting unit detects the counting direction signal and the zero pulse signal and counts the position of the counting pulse signal; the position counting unit is used for recording a first counting pulse signal after the first zero pulse signal as an initial zero position according to the first zero pulse signal, recording a counting direction signal of the orthogonal coding pulse signal at the moment, and transmitting the detected zero pulse signal information at the initial zero position to the self-adaptive zero position detection unit;
the self-adaptive zero position detection unit generates the change information, the position count value and the counting direction signal of the orthogonal coding pulse signal when the initial zero position occurs into a history table according to the received zero position pulse signal information and uses the history table as a first line of the history table; if the counting direction signal does not change reversely, when detecting the orthogonal pulse signal point consistent with the edge change information, the position count value and the counting direction signal of the initial zero position information, the orthogonal pulse signal point is a zero position point;
if the counting direction signal is reversely changed, recording a position counting value when the reverse change is generated, performing reverse prediction according to the position counting value when the reverse change is generated to obtain predicted zero position signal information, and if the zero position signal information of the reversely-converted orthogonal coding pulse signal is detected to be consistent with the predicted zero position signal information, obtaining a reversely-converted zero position point; if the zero position signal information of the orthogonal coding pulse signal after reversal is detected to be inconsistent with the predicted zero position signal information, the zero position signal information of the orthogonal coding pulse signal after reversal is taken as an initial zero position, and the tracking information, the position count value and the counting direction signal information of the orthogonal coding pulse signal are recorded through a history list, so that zero position detection counting of the orthogonal coding pulse signal is completed.
Furthermore, the orthogonal decoding unit is connected with a decoding control register for controlling the decoding mode of the orthogonal decoding unit, and the orthogonal decoding unit converts the input signal into a counting direction signal, a counting pulse signal and a zero pulse signal according to the decoding mode of the decoding control register.
The orthogonal capturing unit generates a frequency division counting clock based on the circuit input clock to perform frequency division counting, generates a unit position event for the counting pulse signal according to the frequency division counting generated by the frequency division counting clock, generates a capturing period according to the frequency division number of the counting pulse signal between two unit position events, and completes orthogonal coding pulse signal counting according to the capturing period.
Compared with the prior art, the invention has the following beneficial technical effects:
the invention relates to a zero position detection method of an orthogonal coding pulse signal, which comprises the steps of converting an input signal into a counting direction signal, a counting pulse signal and a zero position pulse signal, recording a first counting pulse signal after the first zero position pulse signal as an initial zero position according to a detected first zero position pulse signal, and recording the counting direction signal of the orthogonal coding pulse signal at the moment; generating a history record table by using the creeping information, the position count value and the counting direction signal of the orthogonal coding pulse signal when the initial zero position occurs, wherein the counting direction signal does not generate reverse change, and when an orthogonal pulse signal point which is consistent with the creeping information, the position count value and the counting direction signal of the initial zero position information is detected, the orthogonal pulse signal point is a zero point; if the counting direction signal is reversely changed, recording a position counting value when the reverse change is generated, performing reverse prediction according to the position counting value when the reverse change is generated to obtain predicted zero position signal information, and if the zero position signal information of the reversely-converted orthogonal coding pulse signal is detected to be consistent with the predicted zero position signal information, obtaining a reversely-converted zero position point; if the zero position signal information of the orthogonal coding pulse signal after the reversal is detected to be inconsistent with the predicted zero position signal information, the zero position signal information of the orthogonal coding pulse signal after the reversal is taken as an initial zero position.
A zero position detection system of orthogonal coding pulse signals utilizes an orthogonal decoding unit to convert the orthogonal coding pulse signals into counting direction signals, counting pulse signals and zero position pulse signals, then detects the counting direction signals and the zero position pulse signals according to a position counting unit, and simultaneously performs position counting on the counting pulse signals; the self-adaptive zero position detection unit is used for carrying out zero position detection on the orthogonal coding pulse signal according to the received zero position pulse signal information, and accurate zero position detection of the position of the motor can be realized on the premise of not carrying out zero position correction.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention.
FIG. 2 is a block diagram of an adaptive zero detection module.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings:
a zero detection method of orthogonal coding pulse signals comprises the following steps:
step 1), acquiring an orthogonal coding pulse signal as an input signal, and converting the input signal into a counting direction signal, a counting pulse signal and a zero pulse signal;
step 2), generating unit position events for the counting pulse signals based on the frequency division counting of the frequency division counting clock, generating a capturing period according to the frequency division number of the counting pulse signals between the two unit position events, and finishing the counting of the orthogonal coding pulse signals according to the capturing period;
step 3), when detecting a first zero pulse signal, recording the first counting pulse signal after the first zero pulse signal as an initial zero position, and recording a counting direction signal of the orthogonal coding pulse signal at the moment; generating a history record table by using the edge change information, the position count value and the counting direction signal of the orthogonal coding pulse signal when the initial zero position occurs, and using the history record table as a first line of the history record table;
step 4), if the counting direction signal is not reversely changed, when detecting the orthogonal pulse signal point consistent with the creeping information, the position counting value and the counting direction signal of the initial zero position information, the orthogonal pulse signal point is a zero position point, namely an absolute zero position;
if the counting direction signal is reversely changed, recording a position counting value when the reverse change is generated, performing reverse prediction according to the position counting value when the reverse change is generated to obtain predicted zero position signal information, and if the zero position signal information of the reversely-converted orthogonal coding pulse signal is detected to be consistent with the predicted zero position signal information, obtaining a reversely-converted zero position point; if the zero position signal information of the orthogonal coding pulse signal after reversal is detected to be inconsistent with the predicted zero position signal information, the zero position signal information of the orthogonal coding pulse signal after reversal is taken as an initial zero position, and the edge change information, the position count value and the counting direction signal information of the orthogonal coding pulse signal are recorded through a history list, so that the zero position detection of the orthogonal coding pulse signal is completed.
In the step 1), the orthogonal coding pulse signal comprises a pulse signal and a zero position signal, the pulse signal comprises a QEPIN pulse signal and a QEPBIN pulse signal, both the QEPIN and the QEPBIN in the orthogonal input mode are pulse signals, and a phase difference exists between the QEPIN pulse signal and the QEPBIN pulse signal; QEPTIN is a level signal in the direction input mode and is used for indicating a current counting direction signal, and QEPAIN is a pulse signal; the zero bit signal QEPZIN is a pulse signal for indicating that the current code is at zero.
In step 2), the pulse frequency and speed can be obtained according to the capture period and the counting pulse frequency division number in the capture period.
In the step 3), in the orthogonal input mode, generating a counting pulse signal QPLS at all edge change moments of the QEPIN pulse signal and the QEPBIN pulse signal; in the directional input mode, the count pulse signal QPLS is generated at all transition times of the QEPAIN pulse signal. When the first zero-position pulse signal is detected, namely when the initial zero position occurs, a history table is generated according to the edge change information, the position count value and the pulse counting direction signal of the QEPIN pulse signal and the QEPBIN pulse signal at the moment and is used as the first line of the history table, and the first line is used as the absolute zero-position point of the orthogonal coding signal.
And recording current creeping information, position count values and pulse counting direction signals into a historical record table each time when a zero point is reached or direction switching is carried out. When the history tables are full, the zero-position history records for storing the direction switching information are replaced at first, when all the history tables are the zero-position records, the zero-position history records are replaced from the second row to the last row in a circulating mode, and the information in the first row is kept unchanged.
As shown in fig. 1, a zero detection system for orthogonal coded pulse signals includes an orthogonal decoding unit, an orthogonal capturing unit, a position counting unit and an adaptive zero detection unit;
the orthogonal decoding unit is connected with a decoding control register used for controlling the decoding mode of the orthogonal decoding unit;
the orthogonal decoding unit is used for converting the input signal into a counting signal according to the decoding mode of the decoding control register and transmitting the obtained counting signal to the orthogonal capturing unit and the position counting unit; the counting signals comprise a counting direction signal QDIR (Qdirection), a counting pulse signal QPLS (QPulse) and a zero pulse signal QZ (Qzero); the input signals comprise pulse signals and zero signals, the pulse signals comprise QEPIN pulse signals and QEPBIN pulse signals, the QEPIN and the QEPBIN in the orthogonal input mode are both pulse signals, and a phase difference exists between the QEPIN pulse signals and the QEPBIN pulse signals; QEPTIN is a level signal in the direction input mode and is used for indicating a current counting direction signal, and QEPAIN is a pulse signal; the zero signal QEPZIN is a pulse signal used to indicate that the current code is at an absolute zero.
The orthogonal capturing unit generates a frequency division counting clock based on the circuit input clock to perform frequency division counting, generates a unit position event for a counting pulse signal (QPLS) according to the frequency division counting generated by the frequency division counting clock, records a capturing period (the frequency division number of the counting pulse signal between two unit position events), latches the unit position event and the capturing period, and transmits the unit position event and the capturing period back to the position counting unit;
the position counting unit detects a counting direction signal and a zero position pulse signal according to a capture period, performs position counting on a counting pulse signal QPLS, realizes self-increment counting (a forward signal is 1 in the application) when the counting direction signal QDIR is in a forward direction, realizes self-decrement counting (a reverse signal is 0 in the application) when the counting direction signal QDIR is in a reverse direction, and simultaneously records a first counting pulse signal after the first zero position pulse signal as an initial zero position and a counting direction signal of an orthogonal coding pulse signal at the moment according to the first zero position pulse signal and transmits the information of the zero position pulse signal at the detected initial zero position to the self-adaptive zero position detection unit;
the position counting unit records the capturing period and the counting pulse frequency division number in the capturing period, so that the pulse frequency and the speed can be obtained, and the recorded capturing period and the counting pulse frequency division number in the capturing period can provide motor operation position information required by a control system for a user;
the self-adaptive zero position detection unit generates the change information, the position count value and the counting direction signal of the orthogonal coding pulse signal when the initial zero position occurs into a history table according to the received zero position pulse signal information and uses the history table as a first line of the history table; if the counting direction signal does not change reversely, when detecting the orthogonal pulse signal point consistent with the edge change information, the position count value and the counting direction signal of the initial zero position information, the orthogonal pulse signal point is a zero position point;
if the counting direction signal is reversely changed, recording a position counting value when the reverse change is generated, performing reverse prediction according to the position counting value when the reverse change is generated to obtain predicted zero position signal information, and if the zero position signal information of the reversely-converted orthogonal coding pulse signal is detected to be consistent with the predicted zero position signal information, obtaining a reversely-converted zero position point; if the zero position signal information of the orthogonal coding pulse signal after reversal is detected to be inconsistent with the predicted zero position signal information, the zero position signal information of the orthogonal coding pulse signal after reversal is taken as an initial zero position, and the tracking information, the position count value and the counting direction signal information of the orthogonal coding pulse signal are recorded through a history list, so that zero position detection counting of the orthogonal coding pulse signal is completed.
The initialization control signal of the position counting unit is generated through the initialization enabling generation logic, and when the generated initialization control signal is valid, the position counting unit performs initialization operation according to the initialization register. The initialization operation of the position counting unit comprises two types of software initialization and zero initialization: the software initialization means that a user initializes the position counting unit by writing an initialization enabling bit of a control register, and the zero initialization means that the initialization of the position counting unit is realized when a zero signal is detected and the current position is confirmed to be an absolute zero; the reset signal generation logic realizes reset operations such as zero reset, maximum reset and unit timing reset of the position counting unit according to the configuration information and the current counting direction signal (QDIR). The zero reset means that the position counting unit is reset when a zero signal is detected and the current absolute zero is confirmed, the maximum reset means that the position counting unit is reset when the position counting unit reaches the maximum counting value configured by a user or 0, and the unit timing reset means that the position counting unit is reset when a capture cycle is completed. The reset operation of the position counting unit is judged according to the current counting direction signal QDIR, if the current counting direction signal QDIR is in forward motion, the current counting direction signal QDIR is reset to 0, and otherwise, the current counting direction signal QDIR is reset to the maximum counting value configured by a user. The position counting unit can latch the value of the position counting unit according to different configuration information, so that a user can calculate signals required by a control system such as position, speed and the like according to the latch information. The latching modes of the position counting unit comprise absolute zero latching, QZ rising edge latching and QZ falling edge latching.
A block diagram of the adaptive zero detection module is shown in fig. 2. HZT records edge variation information of zero-bit-coming quadrature input signals QEPIN and QEPBIN, pulse width information of a zero-bit signal QEPPIN, a zero-bit position count value and a count direction signal. The zero position prediction generates a prediction signal according to HZT information at a time when a zero position signal is possibly generated, if the zero position input signal is not sampled at the time, the information is transmitted to a record generation part, if the zero position input signal is sampled, the sampled information is transmitted to a zero position signal generation part, and the zero position generation part generates a zero position information pulse to enable a position counting unit to reset the position counting unit and latch the position counting unit according to the zero position information pulse. When the self-adaptive zero-position detection orthogonal coding circuit samples a zero-position signal QEPZIN for the first time, the self-adaptive zero-position detection module considers that a first counting pulse QPLS after the QEPZIN is effective is an initial zero position, and the number of the QPLS in the QEPZIN effective period is used as the pulse width of the QEPZIN for recording. In quadrature input mode, a count pulse QPLS is generated at all transition times of QEPAIN and qebbin; in the directional input mode, a count pulse QPLS is generated at all transition times of QEPAIN.
Claims (9)
1. A zero detection method of orthogonal coding pulse signals is characterized by comprising the following steps:
step 1), acquiring an orthogonal coding pulse signal as an input signal, and converting the input signal into a counting direction signal, a counting pulse signal and a zero pulse signal;
step 2), when a first zero pulse signal is detected, recording a first counting pulse signal after the first zero pulse signal as an initial zero position, and recording a counting direction signal of the orthogonal coding pulse signal at the moment; generating a history record table by using the edge change information, the position count value and the counting direction signal of the orthogonal coding pulse signal when the initial zero position occurs, and using the history record table as a first line of the history record table;
step 3), if the counting direction signal is not reversely changed, when detecting the orthogonal pulse signal point consistent with the edge change information, the position counting value and the counting direction signal of the initial zero position information, the orthogonal pulse signal point is a zero position point;
if the counting direction signal is reversely changed, recording a position counting value when the reverse change is generated, performing reverse prediction according to the position counting value when the reverse change is generated to obtain predicted zero position signal information, and if the zero position signal information of the reversely-converted orthogonal coding pulse signal is detected to be consistent with the predicted zero position signal information, obtaining a reversely-converted zero position point; if the zero position signal information of the orthogonal coding pulse signal after reversal is detected to be inconsistent with the predicted zero position signal information, the zero position signal information of the orthogonal coding pulse signal after reversal is taken as an initial zero position, and the edge change information, the position count value and the counting direction signal information of the orthogonal coding pulse signal are recorded through a history list, so that the zero position detection of the orthogonal coding pulse signal is completed.
2. The method as claimed in claim 1, wherein in step 1), the orthogonally encoded pulse signal includes a pulse signal and a null signal.
3. The method of claim 2, wherein the pulse signals include QEPIN pulse signals and QEPBIN pulse signals, QEPBIN and QEPBIN are pulse signals in quadrature input mode, and there is a phase difference between the two; QEPTIN is a level signal for indicating the current counting direction signal in the direction input mode, and QEPAIN is a pulse signal.
4. The method of claim 2, wherein the zero signal qejzin is a pulse signal indicating that the current code is at zero.
5. A method as claimed in claim 3, wherein in the step 3), in the quadrature input mode, the count pulse signal QPLS is generated at all transition times of the QEPAIN pulse signal and the QEPBIN pulse signal; in the directional input mode, the count pulse signal QPLS is generated at all transition times of the QEPAIN pulse signal.
6. The method for detecting the zero position of the orthogonal coding pulse signal as claimed in claim 1, wherein the current creeping information, the position count value and the pulse counting direction signal at each time of reaching the zero position point or direction switching are recorded in a history table; when the history tables are full, the zero-position history records for storing the direction switching information are replaced at first, when all the history tables are the zero-position records, the zero-position history records are replaced from the second row to the last row in a circulating mode, and the information in the first row is kept unchanged.
7. A zero position detection system of orthogonal coding pulse signals is characterized by comprising an orthogonal decoding unit, a position counting unit and an adaptive zero position detection unit;
the orthogonal decoding unit converts the orthogonal coding pulse signals into counting direction signals, counting pulse signals and zero pulse signals, and transmits the obtained counting direction signals, counting pulse signals and zero pulse signals to the position counting unit;
the position counting unit detects the counting direction signal and the zero pulse signal and counts the position of the counting pulse signal; the position counting unit is used for recording a first counting pulse signal after the first zero pulse signal as an initial zero position according to the first zero pulse signal, recording a counting direction signal of the orthogonal coding pulse signal at the moment, and transmitting the detected zero pulse signal information at the initial zero position to the self-adaptive zero position detection unit;
the self-adaptive zero position detection unit generates the change information, the position count value and the counting direction signal of the orthogonal coding pulse signal when the initial zero position occurs into a history table according to the received zero position pulse signal information and uses the history table as a first line of the history table; if the counting direction signal does not change reversely, when detecting the orthogonal pulse signal point consistent with the edge change information, the position count value and the counting direction signal of the initial zero position information, the orthogonal pulse signal point is a zero position point;
if the counting direction signal is reversely changed, recording a position counting value when the reverse change is generated, performing reverse prediction according to the position counting value when the reverse change is generated to obtain predicted zero position signal information, and if the zero position signal information of the reversely-converted orthogonal coding pulse signal is detected to be consistent with the predicted zero position signal information, obtaining a reversely-converted zero position point; if the zero position signal information of the orthogonal coding pulse signal after reversal is detected to be inconsistent with the predicted zero position signal information, the zero position signal information of the orthogonal coding pulse signal after reversal is taken as an initial zero position, and the tracking information, the position count value and the counting direction signal information of the orthogonal coding pulse signal are recorded through a history list, so that zero position detection counting of the orthogonal coding pulse signal is completed.
8. The system of claim 7, wherein the quadrature decoding unit is connected to a decoding control register for controlling a decoding mode of the quadrature decoding unit, and the quadrature decoding unit converts the input signal into a counting direction signal, a counting pulse signal and a null pulse signal according to the decoding mode of the decoding control register.
9. The system of claim 7, further comprising a quadrature capture unit, wherein the quadrature capture unit generates a frequency division count clock based on the circuit input clock to perform frequency division counting, generates a unit position event for the count pulse signal according to the frequency division count generated by the frequency division count clock, generates a capture period according to the frequency division number of the count pulse signal between two unit position events, and completes counting of the quadrature code pulse signal according to the capture period.
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