CN112197802A - Communication fault processing method for absolute value encoder - Google Patents
Communication fault processing method for absolute value encoder Download PDFInfo
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- CN112197802A CN112197802A CN202011034222.7A CN202011034222A CN112197802A CN 112197802 A CN112197802 A CN 112197802A CN 202011034222 A CN202011034222 A CN 202011034222A CN 112197802 A CN112197802 A CN 112197802A
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Abstract
The invention discloses a communication fault processing method of an absolute value encoder.A communication fault observer of the encoder judges whether the communication of the encoder has faults or not by monitoring the communication return data of the encoder, and judges a CRC check bit of a return data frame in a Morgan protocol; the motion state caching module saves the state of the encoder when the communication is normally operated; the encoder position increment prediction module plays a role in communication fault of an encoder, the default acceleration of the encoder is unchanged in fault, the current encoder position increment is predicted according to the acceleration of the previous moment and the position increment of the previous moment, and the encoder position increment prediction value can be used as the calculation basis of the rotating speed of the motor. The invention stores the motor running state by caching the position increment data when the encoder communication is normal, can predict the most probable encoder position increment when the encoder communication fails, and avoids the influence of the encoder communication failure caused by external interference on the servo, the speed jitter and even the mechanical failure.
Description
Technical Field
The invention relates to the technical field of motor driving and motion control, in particular to a communication fault processing method for an absolute value encoder.
Background
In order to realize high-performance control of the servo motor, encoder data of the motor needs to be acquired, and absolute position and rotating speed information of the motor is acquired by processing the encoder data and is used as feedback of each control loop of the servo motor. The servo motor encoder commonly used at present has an incremental encoder and an absolute value encoder, wherein the absolute value encoder is more and more widely used due to the advantages that the position can be memorized by real-time position detection and power failure, and the like.
The absolute value encoder communication protocols used in the market at present include BISS, HIPERFAC, Morgan protocols and the like, wherein the Morgan protocols are widely used at present because of the advantages of long reliable communication distance, high supported encoder resolution, reliable verification and the like, and most of the servo supports the encoder protocols. The patent is directed to the technical problem of absolute value encoders to be solved, taking the multiple Mochuan encoder protocol as an example.
In the prior art, the following problems exist:
absolute value communication type encoders have certain problems in use. The servo reads the current position of the encoder from the encoder by taking the carrier as a period, and calculates the electrical angle and the motor speed according to the current position, and the position can also be used as the feedback of a position loop to participate in calculation. At this time, if the position of the encoder in a certain carrier period is not correctly obtained due to external electromagnetic interference or the like, the current position of the encoder required for calculating the carrier period is the position of the previous carrier period. At the moment, the calculation of the rotor electrical angle generates deviation, but the current loop control does not generate great influence; the position loop calculation is not greatly influenced due to the existence of the retention pulse; however, the motor speed is calculated by relying on the difference between the two encoder positions, and the calculated motor speed drops directly to zero. If the problem is not processed, the servo operation is jittered, abnormal sound can be generated when the servo operates at low speed, an alarm can be caused when the servo operates at high speed, and machine damage or safety accidents can be even caused in severe cases.
The servo can reduce the effect of this problem by filtering the velocity feedback, but it cannot eliminate it completely, and the filtering itself also has an effect on the velocity loop performance, so it is not the best solution.
Disclosure of Invention
The invention aims to provide a communication fault processing method of an absolute value encoder, which is characterized in that an encoder communication fault observer is arranged, and whether the communication of the current encoder generates faults or not is judged by monitoring whether the communication frame of the encoder is fed back normally (judging CRC check bits in a Morgan protocol). A motion state cache module is designed, and comprises an encoder position increment cache and an acceleration cache and is used for storing the motion state of the current motor. An encoder position increment prediction module is designed, the encoder position increment during communication failure is predicted by taking the current motion state as the basis, the shaking and even failure caused by servo operation are avoided, and the problems in the background art can be solved.
In order to achieve the purpose, the invention provides the following technical scheme:
a communication fault processing method for an absolute value encoder comprises an encoder communication fault observer, a motion state caching module and an encoder position increment prediction module, and comprises the following steps:
step 1: the encoder communication fault observer judges whether the encoder communication has faults by monitoring encoder communication return data, and judges a CRC check bit of a return data frame in the Morgan protocol;
step 2: the motion state caching module stores the state of the encoder during normal operation, including the position increment and the acceleration of the encoder, and the physical quantities represent the real operation state of the motor rotor at the moment;
and step 3: the encoder position increment prediction module is used for playing a role in communication fault of an encoder, the default acceleration of the encoder is unchanged when the encoder fails, the current encoder position increment is predicted according to the acceleration of the previous moment and the position increment of the previous moment, the encoder position increment prediction value can be used as the calculation basis of the rotating speed of the motor, and the current absolute position can be predicted according to the prediction value and the absolute position of the encoder of the previous moment and used as the feedback of a position ring and the rotor electrical angle of a torque ring; while caching the position increment prediction value.
Further, the encoder communication fault observer determines whether to call the motion state caching module or the encoder position increment predicting module according to the state.
Further, the motion state caching module calculates a position increment according to the absolute position of the encoder at the previous moment and the absolute position of the current encoder, adds the position increment to the cache, and calculates corresponding acceleration.
Further, the resulting absolute encoder position and increment are calculated as reliable data in a three-loop calculation.
Compared with the prior art, the invention has the beneficial effects that:
1. taking the Morgan protocol as an example, the communication fault of the encoder is judged to be reliable through CRC check.
2. When the communication of the encoder is seriously failed or even is disconnected, the servo can give an alarm, so that unpredictable actions of the servo motor can not be generated due to excessive position increment prediction, and the safety can be ensured.
3. The motion state cache module only needs 3 32-bit data to perform state cache, and does not consume more memory space.
4. The motion state caching action and the encoder position increment predicting action only need to carry out addition and subtraction operation of 32-bit shaping data for several times, do not relate to floating point numbers and multiplication and division, and have very little calculation consumption on servo.
Drawings
FIG. 1 is an algorithmic flow diagram of an embodiment of the present invention;
FIG. 2 is a schematic diagram of the motion state buffer module and the encoder position increment prediction module according to the present invention.
Detailed Description
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.
Referring to fig. 1, a method for processing communication faults of an absolute value encoder includes an encoder communication fault observer, a motion state cache module and an encoder position increment prediction module, and includes the following steps:
step 1: the encoder communication fault observer judges whether the encoder communication has faults by monitoring encoder communication return data, and judges a CRC check bit of a return data frame in the Morgan protocol; the encoder communication fault observer judges the communication state by monitoring the encoder communication return data, and determines whether to call the motion state cache module or the encoder position increment prediction module according to the state.
Step 2: the motion state caching module stores the state of the encoder during normal operation, including the position increment and the acceleration of the encoder, and the physical quantities represent the real operation state of the motor rotor at the moment; and the motion state caching module calculates position increment according to the absolute position of the encoder at the previous moment and the absolute position of the current encoder, adds the position increment to the cache, and calculates corresponding acceleration. As shown in fig. 2, the calculation formula of the motion state buffer module is as follows:
AK＝ΔK-ΔK-1
ΔK-2＝ΔK-1
ΔK-1＝ΔK
AK-1＝AK。
where Δ represents a position increment, a represents acceleration, k represents a current carrier period, k-1 represents a previous carrier period, and so on.
And step 3: the encoder position increment prediction module is used for playing a role in communication fault of an encoder, the default acceleration of the encoder is unchanged when the encoder fails, the current encoder position increment is predicted according to the acceleration of the previous moment and the position increment of the previous moment, the encoder position increment prediction value can be used as the calculation basis of the rotating speed of the motor, and the current absolute position can be predicted according to the prediction value and the absolute position of the encoder of the previous moment and used as the feedback of a position ring and the rotor electrical angle of a torque ring; while caching the position increment prediction value. The calculation formula of the encoder position increment prediction module is as follows:
AK＝AK-1
ΔK＝ΔK-1+AK
ΔK-2＝ΔK-1
ΔK-1＝ΔK
where Δ represents a position increment, a represents acceleration, k represents a current carrier period, k-1 represents a previous carrier period, and so on.
The resulting absolute encoder position and increment are used as reliable data for a three-loop calculation.
The motor running state is stored by caching position increment data when the encoder communication is normal, the most possible encoder position increment can be predicted when the encoder communication fails, and the influence of the encoder communication failure caused by external interference on the servo and the speed jitter and even the mechanical failure are avoided.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.
Claims (4)
1. A communication fault processing method for an absolute value encoder comprises an encoder communication fault observer, a motion state caching module and an encoder position increment prediction module, and is characterized by comprising the following steps:
step 1: the encoder communication fault observer judges whether the encoder communication has faults by monitoring encoder communication return data, and judges a CRC check bit of a return data frame in the Morgan protocol;
step 2: the motion state caching module stores the state of the encoder during normal operation, including the position increment and the acceleration of the encoder, and the physical quantities represent the real operation state of the motor rotor at the moment;
and step 3: the encoder position increment prediction module is used for playing a role in communication fault of an encoder, the default acceleration of the encoder is unchanged when the encoder fails, the current encoder position increment is predicted according to the acceleration of the previous moment and the position increment of the previous moment, the encoder position increment prediction value can be used as the calculation basis of the rotating speed of the motor, and the current absolute position can be predicted according to the prediction value and the absolute position of the encoder of the previous moment and used as the feedback of a position ring and the rotor electrical angle of a torque ring; while caching the position increment prediction value.
2. The absolute value encoder communication fault handling method of claim 1, wherein an encoder communication fault observer determines whether to invoke the motion state caching module or the encoder position increment prediction module according to the state.
3. The method as claimed in claim 1, wherein the motion state buffer module calculates a position increment according to the absolute position of the encoder at the previous moment and the absolute position of the current encoder, adds the position increment to the buffer, and calculates the corresponding acceleration.
4. The absolute value encoder communication failure handling method of claim 1, wherein the resulting absolute encoder position and increment are calculated as reliable data in a three-loop calculation.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114035502A (en) * | 2021-11-29 | 2022-02-11 | 黑龙江建龙钢铁有限公司 | Method for continuing equipment running without stopping after position encoder fails |
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