CN112260592A - Wire-saving single-coil absolute value magnetic encoder and absolute position acquisition method - Google Patents
Wire-saving single-coil absolute value magnetic encoder and absolute position acquisition method Download PDFInfo
- Publication number
- CN112260592A CN112260592A CN202011074556.7A CN202011074556A CN112260592A CN 112260592 A CN112260592 A CN 112260592A CN 202011074556 A CN202011074556 A CN 202011074556A CN 112260592 A CN112260592 A CN 112260592A
- Authority
- CN
- China
- Prior art keywords
- angle
- motor rotor
- motor
- time
- chip
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Abstract
The invention discloses a wire-saving single-loop absolute value magnetic encoder and an absolute position acquisition method, wherein the magnetic encoder comprises a main control chip and a magnetic induction angle chip; the magnetic induction angle chip is used for acquiring the angle of the motor rotor at a fixed position in a motor calibration stage, acquiring the real-time angle of the motor rotor in a starting time T and sending the real-time angle to the main control chip in an operation stage, and acquiring the real-time angle of the motor rotor after the T time in the operation stage and sending the real-time angle to the drive plate through A, B two paths of signals; the main control chip is used for storing the initial angle of the motor rotor in the motor calibration stage, and is also used for comparing and calculating the real-time angle of the motor rotor with the initial angle in the T starting time to obtain the initial single-circle absolute position of the motor rotor in the operation stage, and sending the initial single-circle absolute position to the drive plate through A, B two-path signals. The invention can not only save the wire of the magnetic encoder, but also obtain the initial single-circle absolute value position of the motor rotor when the motor is electrified.
Description
Technical Field
The invention relates to the technical field of encoders, in particular to a wire-saving single-coil absolute value magnetic encoder applied to motor closed-loop control and a motor rotor absolute position acquisition method.
Background
The devices for converting angular displacement or linear displacement are called encoders, and can be classified into contact encoders and non-contact encoders according to the way of reading signals, photoelectric encoders and magnetic encoders according to the types, and can be classified into incremental type, absolute type and hybrid type according to the scale method.
Magnetic encoders have been developed in recent years, and generally, the magnetic encoders output absolute positions, which are required to obtain initial positions when the motor is started and real-time positions during the operation of the motor. In order to meet the requirements of initial position and real-time position acquisition functions, most of magnetic encoders used for controlling stepping motors and servo motors in the current market are A, B, Z, U, V, W six paths of signals, power supply VCC lines and GND lines, and are mostly transmitted in an RS485 communication mode, wherein A +, A-, B +, B-, Z +, Z-, U +, U-, V +, V-, W +, W-, 12 lines are led out from A, B, Z, U, V, W six paths of signals and are connected into a drive board, and the 14 lines are led into the existing magnetic encoders together with the power supply VCC lines and the GND lines. A. The B signal line is used for determining the real-time position of the motor in the running process, the U, V, W signal line, namely the Hall signal line, is used for roughly determining the initial position when the motor is started, and the Z signal line is used for clearing 0 to the position of the motor every turn of the motor, so that the accumulated error of the motor in the running process is reduced.
Research on absolute value encoders is more at home and abroad. The invention patent application with the application number of CN201710678148.4 discloses a multi-turn absolute value encoder, which is characterized in that 1 single-turn absolute value encoder is used for position detection during normal power supply and recording data position data by 1 single chip microcomputer during normal power supply, 1 common encoder is used for position detection during power failure, and the other 1 single chip microcomputer continuously records position data after power failure. The invention patent application with the application number of CN201810694360.4 discloses a method for realizing the breakpoint position by using a single-circle absolute value encoder, which uses a main controller, the single-circle absolute value encoder and a standby power supply, and although the function of storing the absolute position by using the breakpoint is realized, the method can not realize the wire saving and can ensure that the absolute position of a motor can be obtained by a driving plate when the driving plate is electrified.
Therefore, the prior art has yet to be developed.
Disclosure of Invention
In view of the defects of the prior art, the invention aims to provide a wire-saving absolute value magnetic encoder and a motor rotor absolute position acquisition method, and aims to enable the magnetic encoder to save wires and acquire the initial single-turn absolute value position of a motor rotor when being electrified.
In order to realize the purpose, the invention adopts the following technical scheme:
a wire-saving single-loop absolute value magnetic encoder comprises a main control chip and a magnetic induction angle chip connected with the main control chip, wherein the magnetic encoder is provided with A, B paths of signal outputs for being connected with a driving board;
the magnetic induction angle chip is used for acquiring the angle of the motor rotor fixed at one position in the motor calibration stage and sending the angle to the main control chip, acquiring the real-time angle of the motor rotor in the T time of starting in the motor operation stage and sending the real-time angle to the main control chip, and acquiring the real-time angle of the motor rotor after the T time in the motor operation stage and sending the real-time angle to the drive plate through A, B two paths of signals;
the main control chip is used for storing an angle, which is sent by the magnetic induction angle chip and is fixed at one position, of the motor rotor in a motor calibration stage as an initial angle of the motor rotor, and is also used for comparing and calculating a real-time angle of the motor rotor with the initial angle in a starting T time to obtain an initial single-circle absolute position of the motor rotor in a motor operation stage, and sending the initial single-circle absolute position to the drive plate through A, B two paths of signals.
The magnetic encoder is used for realizing the single-turn zero clearing signal Z of the motor rotor by software.
The system also comprises a differential communication chip;
the input end of the differential communication chip is connected with the A, B two paths of signals, and the output end of the differential communication chip is provided with A +, A-, B +, B-four output lines for connecting with a driving board;
the differential communication chip transmits the initial single-circle absolute position of the motor rotor calculated by the main control chip to the drive plate in a pulse mode through A +, A-, B +, B-four output lines after conversion within T time of starting at the motor operation stage;
and in the motor operation stage, after the T time, the real-time angle of the motor rotor acquired by the magnetic induction angle chip is converted and then transmitted to the drive plate through the A +, A-, B + and B-four output lines in a pulse mode.
And in the motor operation stage, the starting time T is 80 ms.
The model of the master control chip is STM32031F4P 6.
Wherein, the magnetic induction angle chip is AK 7451.
The model of the differential communication chip is YD 3082E.
The invention also provides a method for acquiring the absolute position of the motor rotor, wherein the wire-saving single-coil absolute value magnetic encoder comprises the following steps:
a calibration stage: firstly, calibrating a motor to obtain the initial angle of a rotor of the motor and storing the initial angle in Flash of a main control chip;
and (3) an operation stage: and electrifying and starting, acquiring the real-time angle of the motor rotor in T time, reading the initial angle of the motor rotor pre-stored in Flash of the main control chip, comparing the real-time angle of the motor rotor with the initial angle to calculate to obtain the initial single-circle absolute position of the motor rotor and sending the initial single-circle absolute position to the drive board, and acquiring the real-time angle of the motor rotor and directly sending the real-time angle to the drive board after the T time.
Wherein the motor calibration process of the calibration phase comprises:
the method comprises the following steps that a wire-saving type single-coil absolute value magnetic encoder is arranged on a motor to be calibrated and is connected with a calibration circuit board, an upper computer and a driving board;
electrifying, and enabling the motor rotor to rotate to a fixed position and be locked by the calibration circuit board;
the upper computer sends a calibration instruction, and after a main control chip on the magnetic encoder receives the calibration instruction, the magnetic induction angle chip acquires an angle value of a motor rotor locking position and stores the angle value in a register of the magnetic induction angle chip;
the main control chip obtains an angle value in a register of the magnetic induction angle chip to serve as an initial angle of the motor rotor and stores the initial angle in Flash of the main control chip.
Wherein, the processing procedure of the operation stage specifically comprises:
starting power-on, and judging whether a main control chip of the magnetic encoder receives a calibration instruction sent by an upper computer or not;
if so, calibrating;
if not, the default motor has been calibrated;
if the current angle is calibrated, the magnetic induction angle chip sends the acquired real-time angle of the motor rotor to the main control chip within T time, the main control chip reads the initial angle of the motor rotor pre-stored in Flash of the main control chip, the main control chip compares the initial angle of the motor rotor with the initial angle of the motor rotor to obtain the initial single-circle absolute position of the motor rotor, and the initial single-circle absolute position of the motor rotor is sent to the drive board through A, B two paths of signals;
after T time, the magnetic induction angle chip directly sends the acquired real-time angle of the motor rotor to the drive plate through A, B two-path signals, and the drive plate is used for controlling the motor to rotate.
The invention discloses a wire-saving single-turn absolute value magnetic encoder, which is characterized in that a main control chip and a magnetic induction angle chip are arranged, the initial angle of a motor rotor after motor calibration is stored in Flash of the main control chip in advance, during the running, the real-time angle of the motor rotor is obtained and compared with the pre-stored initial angle to calculate the initial single-turn absolute position of the motor rotor and is sent to a driving plate through A, B two-path signals, after the T time of starting, the obtained real-time angle of the motor rotor is directly sent to the driving plate through A, B two-path signals, therefore, the wire-saving single-turn absolute value magnetic encoder does not need to be provided with U, V, W three-path signals to obtain the initial position of the motor rotor during the starting, but in the T time of electrifying the magnetic encoder, the driving plate directly receives the initial single-turn absolute position of the motor rotor sent from the magnetic encoder, this eliminates the U +, U-, V +, V-, W +, W-connecting wires associated with the U, V, W three-way signal. And the Z-path signal can also be realized in a software mode, so that Z + and Z-connecting wires are omitted, and compared with a 14-wire magnetic encoder in the prior art, the magnetic encoder provided by the invention can omit 8 wires. Meanwhile, the initial angle of the motor rotor is directly stored in the magnetic encoder, so that the initial single-turn absolute value position of the motor rotor can be quickly obtained after the motor rotor is electrified and started, U, V, W signals do not need to be obtained firstly, and the initial angle is obtained after conversion calculation, so that the positioning efficiency is improved. Meanwhile, the initial angle cannot be lost after power failure, and recalibration is not needed.
Drawings
In order to more clearly illustrate the embodiments of the present invention 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 invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic circuit diagram of a first embodiment of a wire-saving single-turn absolute value magnetic encoder of the present invention;
FIG. 2 is a schematic circuit diagram of a second embodiment of the present invention of a wire-saving single-turn absolute value magnetic encoder;
FIG. 3 is a schematic circuit diagram of a main control chip of the magnetic encoder according to the present invention;
FIG. 4 is a schematic circuit diagram of a magnetic induction angle chip of the magnetic encoder according to the present invention;
FIG. 5 is a schematic circuit diagram of a differential communication chip of the magnetic encoder of the present invention;
FIG. 6 is a schematic diagram of the connection of a low-dropout voltage regulator circuit in a magnetic encoder according to the present invention;
FIG. 7 is a schematic flow chart illustrating a method for obtaining an absolute position of a rotor of a motor according to a first embodiment of the present invention;
FIG. 8 is a schematic flow chart of the motor calibration of the present invention;
FIG. 9 is a schematic diagram of the processing flow after the magnetic encoder is powered on when the motor of the present invention is running.
Description of the reference numerals
100-magnetic encoder, 10-main control chip, 20-magnetic induction angle chip, 30-differential communication chip and 200-driving board.
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, the present invention provides a wire-saving single-turn absolute value magnetic encoder 100, which includes a main control chip 10 and a magnetic induction angle chip 20 connected to the main control chip 10. The magnetic encoder 100 is provided with A, B two-way signal outputs for connection with the drive plate 200. The magnetic encoder 100 also includes mechanical structure parts such as magnets, a housing, and the like. The power-saving single-coil absolute value magnetic encoder 100 is installed on a motor in use, and the magnet rotates along with a rotor of the motor. The wire-saving single-coil absolute value magnetic encoder 100 of the present invention is provided with a power connection line VCC and a ground connection GND.
The magnetic induction angle chip 20 is used for acquiring the angle of the motor rotor fixed at a position in the motor calibration stage and sending the angle to the main control chip 10, acquiring the real-time angle of the motor rotor in the T time of starting and sending the real-time angle to the main control chip 10 in the motor operation stage, and acquiring the real-time angle of the motor rotor after the T time and sending the real-time angle of the motor rotor to the drive plate 200 through A, B two signals.
The magnetic induction angle chip 20 of the invention firstly obtains the angle of the motor rotor fixed at a position in the calibration stage as the initial angle of the motor rotor, and if the initial angle exists, the initial single-turn absolute position can be calculated in the subsequent operation stage.
The main control chip 10 of the present invention is used for storing the angle of the motor rotor fixed at a position sent by the magnetic induction angle chip 20 in the motor calibration stage as the initial angle of the motor rotor, and the storage of the initial angle can use Flash or ROM of the main control chip 10. The main control chip 10 is further configured to, at the motor operation stage, compare the real-time angle of the motor rotor with the initial angle within the T time of starting to obtain the initial single-turn absolute position of the motor rotor, and send the initial single-turn absolute position to the drive board 200 through A, B two-way signals.
Namely, during operation, in the time T after starting, the main control chip 10 compares the real-time angle of the motor rotor sent by the magnetic induction angle chip 20 with the initial angle of the motor rotor pre-stored in the main control chip 10 to calculate to obtain the initial single-turn absolute position of the motor rotor, and output to the driving board 200 through A, B two-way signal output terminals of the magnetic encoder 100, the drive plate 200 thus acquires an initial single-turn absolute position of the electronic rotor upon power-up, then, after the time T is started, the magnetic induction angle chip 20 directly outputs the obtained real-time angle of the motor rotor to the driving board 200 through A, B two-path signals of the magnetic encoder 100, since the drive plate 200 has previously acquired the initial single-turn absolute position of the motor rotor, the single-turn absolute position of the motor rotor can be obtained from the real-time angle of the subsequent motor rotor.
In the invention, in the motor operation stage, the magnetic induction angle chip 20 of the magnetic encoder 100 obtains the real-time angle of the motor rotor in the powered-on T and sends the real-time angle to the main control chip 10 of the magnetic encoder 100, and the magnetic induction angle chip 20 of the magnetic encoder 100 obtains the real-time angle of the motor and sends the real-time angle to the drive board 200 through A, B two-path signals after being powered on T. The main control chip 10 of the magnetic encoder 100 only sends the absolute position of the single-turn of the motor rotor to the drive board 200 through A, B two-way signals within T time after power-on.
The initial angle of the motor rotor is stored in the main control chip 10 after being calibrated in advance, so that the initial angle can be directly called during operation. According to the magnetic encoder 100, after being electrified, the single-circle absolute position of the motor rotor is directly read from the magnetic encoder 100 and obtained without U, V, W signal acquisition, and through control, the initial single-circle absolute position of the motor rotor can be obtained within T time after being electrified and sent to the drive plate 200, so that the drive plate 200 can quickly respond to control the motor, and the positioning control efficiency is improved.
Preferably, in the motor operation stage, the T time for starting is set to 80ms, that is, the initial single-turn absolute position of the motor rotor can be obtained within 80ms after the motor is powered on and sent to the driving plate 200, so that the positioning control efficiency of the driving plate 200 can be greatly improved.
The initial position of the motor after being electrified is obtained by U, V, W signals in the prior art and is electrified within 80ms, and the magnetic encoder main control chip obtains the real-time position of the motor rotor in the magnetic induction angle chip register and then performs difference calculation conversion with the initial angle in Flash to obtain the initial position of the motor rotor, so that U +, U-, V +, V-, W + and W-connecting wires related to U, V, W signals in the existing magnetic encoder can be omitted, and the purpose of saving wires is achieved. Meanwhile, since the magnetic encoder 100 of the present invention directly stores the initial angle of the motor rotor, it is not lost after power failure and recalibration is not required after power failure.
Further, the magnetic encoder 100 of the present invention is implemented by software for clearing the signal Z of the motor rotor for a single turn. For example, the single-turn zero clearing of the magnetic encoder 100 of the present invention can update the interrupt mode with the timer in software, and zero clearing the angle value after the motor rotor runs for one turn in the interrupt service function, so as to achieve the effect of eliminating the accumulated error, and thus, the Z + and Z-connecting wires related to the Z-path signal can be further omitted, so that the magnetic encoder 100 of the present invention can totally omit U +, U-, V +, V-, W +, W-, Z +, Z-, and 9 wires, and compared with the 14-wire magnetic encoder in the prior art, the present invention greatly saves the connecting wires and is convenient to install.
As shown in FIG. 2, the magnetic encoder 100 of the present invention preferably further includes a differential communication chip 30.
The input end of the differential communication chip 30 is connected with the A, B two-path signal, and the output end of the differential communication chip 30 is provided with a +, A-, B +, B-four output lines for connecting with the driving board 200.
In the motor operation stage, the differential communication chip 30 converts the initial single-turn absolute position of the motor rotor calculated by the main control chip 10 within the time T of starting, and transmits the converted initial single-turn absolute position to the drive board 200 through a +, a-, B-four output lines in a pulse manner (i.e., high and low levels).
In the motor operation stage, the differential communication chip 30 converts the real-time angle of the motor rotor acquired by the magnetic induction angle chip 20 after the T time and transmits the converted real-time angle to the drive board 200 through four output lines, i.e., a +, a-, B +, B-in a pulse manner.
The differential communication chip 30 enables the master control chip 10 and the magnetic induction angle chip 20 to perform data transmission with the drive board 200 in an RS485 communication mode, the differential communication chip 30 transmits A, B two-path signals sent by the master control chip 10 or the magnetic induction angle chip 20 to the drive board 200 through A +, A-, B + and B-after differential processing, interference in the signal transmission process is reduced, the stability of signal transmission is improved, and the accuracy of the drive board 200 for controlling the motor is guaranteed. Meanwhile, the differential communication chip 30 is provided with a +, a-, B +, B-four output lines as signal connection lines of the magnetic encoder 100 of the present invention, and a power VCC line and a GND line are added, the magnetic encoder 100 of the embodiment of the present invention has 6 lines in total, and compared with the magnetic encoder with 14 lines in the prior art, the wiring is greatly reduced.
Specifically, as shown in fig. 3, the main control chip 10 of the present invention is model STM32031F4P 6. A pin A _ in 'outputs a path of signals A, and a pin B _ in' outputs a path of signals B, so that the initial single-circle absolute position of the motor rotor is sent to the driving plate 200 within the starting time T of the motor. In this embodiment, the pins a _ in 'and B _ in' are first connected to the differential communication chips U3 and U5, and then sent to the driver board 200 after differential processing. The CSQ, SCK, MISO, and MOSI pins of the main control chip 10 are connected to the magnetic induction angle chip 20 to obtain the real-time angle of the motor rotor in the magnetic induction angle chip U2 and the motor rotor initial angle pre-stored in the main control chip U4 within the time T of starting the motor, and calculate to obtain the initial single-turn absolute position of the motor rotor. As an embodiment, Flash of the main control chip STM32031F4P6 of the present invention is used to pre-store the initial angle of the rotor of the motor obtained after calibration of the motor.
As shown in fig. 4, the magnetic induction angle chip 20 of the present invention is AK 7451. The pins A _ in and B _ in output A, B paths of signals to send the real-time angle of the motor rotor in the rotation process to the drive board 200, in the embodiment, the pins A _ in and B _ in are firstly connected to the differential communication chips U3 and U5, and are sent to the drive board 200 after differential processing. Because U, V, W, Z paths of signals are not needed, the Z, U, V, W pin of the magnetic induction angle chip U2 does not need to be connected into a circuit. It is to be understood that for expanding the intended scope, the magnetic encoder 100 of the present invention may be used with the Z, U, V, W pins of the magnetic induction angle chip U2 when used on a brushless motor.
As shown in fig. 5, the differential communication chip 30 of the present invention has a model number YD 3082E. The differential communication chips U3 and U5 of the invention process the A, B signal sent by the main control chip U4 or the A, B signal sent by the magnetic induction angle chip U2 into differential signals, and then send the differential signals from A _ out +, A _ out-, B _ out + and B _ out-. Preferably, the present invention is provided with a P1 plug connecting a _ out +, a _ out-, B _ out +, B _ out-with the driver 200.
As shown in fig. 6, the magnetic encoder 100 of the present invention is further provided with a low-dropout voltage regulator circuit for converting an input 5V dc into 3.3V to be supplied to the main control chip U4 and the differential communication chips U3 and U5. In the embodiment of the invention, the low dropout voltage regulator circuit comprises a low dropout voltage regulator chip U1 with the model number of ME6211A33M 3.
As shown in fig. 7, the present invention further provides a method for obtaining an absolute position of a rotor of a motor, which uses the above-mentioned wire-saving single-turn absolute value magnetic encoder 100, and includes the following steps:
s701, a calibration stage: firstly, calibrating a motor to obtain the initial angle of a rotor of the motor and storing the initial angle in Flash of a main control chip.
The method comprises the steps of firstly calibrating the motor by using the wire-saving single-loop absolute value magnetic encoder 100 to obtain the initial angle of the motor rotor of the motor and storing the initial angle in Flash of a main control chip 10 of the magnetic encoder 100, so that the initial angle is directly used to obtain the initial position of the motor rotor when the motor is started and powered on next time, and the stored initial angle cannot be lost due to power failure.
S702, operation stage: and electrifying and starting, acquiring the real-time angle of the motor rotor in T time, reading the initial angle of the motor rotor pre-stored in Flash of the main control chip, comparing the real-time angle of the motor rotor with the initial angle to calculate to obtain the initial single-circle absolute position of the motor rotor and sending the initial single-circle absolute position to the drive board, and acquiring the real-time angle of the motor rotor and directly sending the real-time angle to the drive board after the T time.
After the motor is calibrated, in the subsequent operation process, the initial angle of the motor rotor pre-stored in Flash of the main control chip 10 of the magnetic encoder 100 is directly read and compared with the real-time angle of the motor rotor to obtain the initial single-circle absolute position of the motor rotor and send the initial single-circle absolute position to the drive board 200 within the T time after the power-on, then the real-time angle of the motor rotor is directly sent to the drive board 200 after the T time of the starting, and the real-time absolute position of the motor rotor is obtained by comparing the initial single-circle absolute position with the real-time angle of the motor rotor by the drive board 200.
Therefore, the initial position of the motor during starting is not required to be obtained through U, V, W signals in the prior art, and the initial position is lost after power failure in the prior art, so that the U +, U-, V +, V-, W + and W-connecting wires can be omitted.
Meanwhile, in the method for acquiring the absolute position of the motor rotor, the single-turn zero clearing signal Z of the motor rotor is realized by software. This further eliminates the Z +, Z-connecting wires of the magnetic encoder 100.
Specifically, as shown in fig. 8, as an embodiment, the motor calibration process in the calibration stage in the method of the present invention includes:
s801, the wire-saving single-coil absolute value magnetic encoder is installed on a motor to be calibrated and is connected with a calibration circuit board, an upper computer and a drive board.
And S802, electrifying, and enabling the motor rotor to rotate to a fixed position and to be locked by the calibration circuit board.
And S803, the upper computer sends a calibration instruction, and after the master control chip on the magnetic encoder receives the calibration instruction, the magnetic induction angle chip acquires the angle value of the motor rotor locking position and stores the angle value in the register of the magnetic induction angle chip.
And S804, the main control chip acquires the angle value in the register of the magnetic induction angle chip as the initial angle of the motor rotor and stores the angle value in Flash of the main control chip.
The motor calibration of the present invention allows the magnetic encoder 100 to pre-acquire and store the initial angle of the motor rotor for subsequent absolute position calculations.
As shown in fig. 9, in the method of the present invention, the processing procedure of the operation stage specifically includes:
and S901, starting power-on, and judging whether a main control chip of the magnetic encoder receives a calibration instruction sent by an upper computer.
S902, if receiving, calibrating.
And S903, if the motor is not received, the default motor is calibrated.
And S904, if the calibration is carried out, the magnetic induction angle chip sends the acquired real-time angle of the motor rotor to the main control chip within T time, the main control chip reads the initial angle of the motor rotor pre-stored in Flash of the main control chip, and the main control chip compares the initial angle of the motor rotor with the initial angle of the motor rotor to obtain the initial single-circle absolute position of the motor rotor and sends the initial single-circle absolute position of the motor rotor to the drive board through A, B two paths of signals.
And S905, after T time, the magnetic induction angle chip directly sends the acquired real-time angle of the motor rotor to the drive plate through A, B two paths of signals, and the drive plate is used for controlling the motor to rotate.
In the method, whether the motor is calibrated or not is judged, so that the problem that the positioning control of the driving plate on the motor fails due to the fact that the initial position cannot be obtained is avoided.
The method for obtaining the absolute position of the power-saving single-turn absolute value magnetic encoder 100 provided by the embodiment of the invention comprises the steps of setting a main control chip 10 and a magnetic induction angle chip 20, pre-storing the initial angle of a motor rotor after motor calibration in the magnetic encoder 100, obtaining the real-time angle of the motor rotor in comparison calculation with the pre-stored initial angle within T starting time during operation, obtaining the initial single-turn absolute position of the motor rotor, sending the initial single-turn absolute position to a drive plate 200 through A, B two-path signals, directly sending the obtained real-time angle of the motor rotor to the drive plate 200 through A, B two-path signals after the T starting time, thus, the power-saving single-turn absolute value magnetic encoder 100 does not need to set U, V, W three-path signal lines to obtain the initial position during motor starting, and within the power-on T time of the magnetic encoder 100, the drive plate 200 directly receives the initial single-turn absolute position of the motor rotor sent by the magnetic encoder 100, this eliminates the U +, U-, V +, V-, W +, W-connecting wires associated with the U, V, W three-way signal. And the Z-path signal can also be realized in a software mode, so that Z + and Z-connecting wires are omitted, and compared with a 14-wire magnetic encoder in the prior art, the magnetic encoder 100 disclosed by the invention can omit 8 wires. Meanwhile, the magnetic encoder 100 of the present invention directly stores the initial angle of the motor rotor, so that the initial single-turn absolute value position of the motor rotor can be quickly obtained after power-on start, and the initial angle can be obtained after conversion calculation without obtaining U, V, W signals, thereby improving the positioning efficiency. Meanwhile, the initial angle cannot be lost after power failure, and recalibration is not needed.
The above description is only for clearly illustrating the invention and is not therefore to be considered as limiting the scope of the invention, and all embodiments are not intended to be exhaustive, and all equivalent structural changes made by using the technical solutions of the present invention or other related technical fields directly/indirectly applied under the concept of the present invention are included in the scope of the present invention.
Claims (10)
1. A wire-saving single-loop absolute value magnetic encoder is characterized by comprising a main control chip and a magnetic induction angle chip connected with the main control chip, wherein the magnetic encoder is provided with A, B paths of signal outputs for being connected with a driving board;
the magnetic induction angle chip is used for acquiring the angle of the motor rotor fixed at one position in the motor calibration stage and sending the angle to the main control chip, acquiring the real-time angle of the motor rotor in the T time of starting in the motor operation stage and sending the real-time angle to the main control chip, and acquiring the real-time angle of the motor rotor after the T time in the motor operation stage and sending the real-time angle to the drive plate through A, B two paths of signals;
the main control chip is used for storing an angle, which is sent by the magnetic induction angle chip and is fixed at one position, of the motor rotor in a motor calibration stage as an initial angle of the motor rotor, and is also used for comparing and calculating a real-time angle of the motor rotor with the initial angle in a starting T time to obtain an initial single-circle absolute position of the motor rotor in a motor operation stage, and sending the initial single-circle absolute position to the drive plate through A, B two paths of signals.
2. The wire-saving single-coil absolute value magnetic encoder according to claim 1, wherein the magnetic encoder is implemented by software for a single-coil zero clearing signal Z of a rotor of an electric motor.
3. The payline-saving single-turn absolute value magnetic encoder according to claim 1, further comprising a differential communication chip;
the input end of the differential communication chip is connected with the A, B two paths of signals, and the output end of the differential communication chip is provided with A +, A-, B +, B-four output lines for connecting with a driving board;
the differential communication chip transmits the initial single-circle absolute position of the motor rotor calculated by the main control chip to the drive plate in a pulse mode through A +, A-, B +, B-four output lines after conversion within T time of starting at the motor operation stage;
and in the motor operation stage, after the T time, the real-time angle of the motor rotor acquired by the magnetic induction angle chip is converted and then transmitted to the drive plate through the A +, A-, B + and B-four output lines in a pulse mode.
4. The wire-saving single-turn absolute value magnetic encoder according to claim 1, wherein the T time for start-up is 80ms during the motor operation phase.
5. The wire-saving single-turn absolute value magnetic encoder according to claim 1, wherein the master control chip model is STM32031F4P 6.
6. The wire-saving single-turn absolute value magnetic encoder according to claim 1, wherein the magnetic induction angle chip is AK 7451.
7. The wire-saving single-turn absolute value magnetic encoder according to claim 3, wherein the differential communication chip has a model number of YD 3082E.
8. A method for obtaining an absolute position of a rotor of an electric motor, wherein a wire-saving single-turn absolute value magnetic encoder according to any one of claims 1 to 7 is used, comprising the steps of:
a calibration stage: firstly, calibrating a motor to obtain the initial angle of a rotor of the motor and storing the initial angle in Flash of a main control chip;
and (3) an operation stage: and electrifying and starting, acquiring the real-time angle of the motor rotor in T time, reading the initial angle of the motor rotor pre-stored in Flash of the main control chip, comparing the real-time angle of the motor rotor with the initial angle to calculate to obtain the initial single-circle absolute position of the motor rotor and sending the initial single-circle absolute position to the drive board, and acquiring the real-time angle of the motor rotor and directly sending the real-time angle to the drive board after the T time.
9. The method of claim 8, wherein the motor calibration process of the calibration phase comprises:
the method comprises the following steps that a wire-saving type single-coil absolute value magnetic encoder is arranged on a motor to be calibrated and is connected with a calibration circuit board, an upper computer and a driving board;
electrifying, and enabling the motor rotor to rotate to a fixed position and be locked by the calibration circuit board;
the upper computer sends a calibration instruction, and after a main control chip on the magnetic encoder receives the calibration instruction, the magnetic induction angle chip acquires an angle value of a motor rotor locking position and stores the angle value in a register of the magnetic induction angle chip;
the main control chip obtains an angle value in a register of the magnetic induction angle chip to serve as an initial angle of the motor rotor and stores the initial angle in Flash of the main control chip.
10. The method according to claim 9, wherein the processing procedure of the run phase specifically includes:
starting power-on, and judging whether a main control chip of the magnetic encoder receives a calibration instruction sent by an upper computer or not;
if so, calibrating;
if not, the default motor has been calibrated;
if the current angle is calibrated, the magnetic induction angle chip sends the acquired real-time angle of the motor rotor to the main control chip within T time, the main control chip reads the initial angle of the motor rotor pre-stored in Flash of the main control chip, the main control chip compares the initial angle of the motor rotor with the initial angle of the motor rotor to obtain the initial single-circle absolute position of the motor rotor, and the initial single-circle absolute position of the motor rotor is sent to the drive board through A, B two paths of signals;
after T time, the magnetic induction angle chip directly sends the acquired real-time angle of the motor rotor to the drive plate through A, B two-path signals, and the drive plate is used for controlling the motor to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011074556.7A CN112260592A (en) | 2020-10-09 | 2020-10-09 | Wire-saving single-coil absolute value magnetic encoder and absolute position acquisition method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011074556.7A CN112260592A (en) | 2020-10-09 | 2020-10-09 | Wire-saving single-coil absolute value magnetic encoder and absolute position acquisition method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112260592A true CN112260592A (en) | 2021-01-22 |
Family
ID=74242432
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011074556.7A Pending CN112260592A (en) | 2020-10-09 | 2020-10-09 | Wire-saving single-coil absolute value magnetic encoder and absolute position acquisition method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112260592A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113067524A (en) * | 2021-03-09 | 2021-07-02 | 深圳市弦动科技有限公司 | Position information processing method of hub servo motor |
| CN115061415A (en) * | 2022-08-18 | 2022-09-16 | 赫比(成都)精密塑胶制品有限公司 | Automatic process monitoring method and device and computer readable storage medium |
-
2020
- 2020-10-09 CN CN202011074556.7A patent/CN112260592A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113067524A (en) * | 2021-03-09 | 2021-07-02 | 深圳市弦动科技有限公司 | Position information processing method of hub servo motor |
| CN115061415A (en) * | 2022-08-18 | 2022-09-16 | 赫比(成都)精密塑胶制品有限公司 | Automatic process monitoring method and device and computer readable storage medium |
| CN115061415B (en) * | 2022-08-18 | 2023-01-24 | 赫比(成都)精密塑胶制品有限公司 | Automatic process monitoring method and device and computer readable storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10486735B2 (en) | Rotation detecting apparatus | |
| US10328972B2 (en) | Rotation detecting apparatus and electric power steering apparatus using the same | |
| CN109073414B (en) | Position sensor and method for generating a sensor output signal | |
| CN112260592A (en) | Wire-saving single-coil absolute value magnetic encoder and absolute position acquisition method | |
| CN101459407B (en) | Initial position detection method for permanent magnet synchronous electric motor rotor | |
| US10312839B2 (en) | Brushless DC motor with control electronics motor assembly | |
| CN111457953A (en) | Automatic calibration detection system and method for rotary encoder | |
| US20150035520A1 (en) | Calibration and monitoring of an angle measuring system for electrical machines | |
| CN103222168B (en) | A kind of servomotor and servo-control system | |
| US20200228035A1 (en) | Control device for brushless dc servo motor | |
| CN111801883A (en) | Position estimation method, position estimation device, and motor module | |
| CN212258822U (en) | Detection device of position sensor | |
| CN108400732A (en) | A kind of DC brushless motor or AC permanent magnet synchronous motor detecting apparatus for rotor position | |
| CN111446821B (en) | Magnetic coding multi-Hall redundancy device | |
| CN105915139A (en) | Vector control permanent magnet synchronous servo motor initial magnetic pole position search method | |
| CN213072495U (en) | Wire-saving type single-coil absolute value magnetic encoder | |
| CN100364224C (en) | Controller for permanent magnet motor | |
| CN110247604A (en) | A kind of permanent magnet synchronous motor sinusoidal drive method | |
| CN208635816U (en) | Encoder system | |
| US7236337B2 (en) | Drive power supply and fail determination method | |
| US11365985B2 (en) | Rotation detection device | |
| CN112072966B (en) | Detection device and detection method of position sensor | |
| CN109099944B (en) | Encoder for stepping motor and initial phase identification method of stepping motor | |
| JPH07303390A (en) | Servomotor system | |
| KR102477863B1 (en) | Apparatus and method for controlling motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |