CN112284425B - High-precision encoder based on LC oscillation circuit and implementation method - Google Patents

High-precision encoder based on LC oscillation circuit and implementation method Download PDF

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CN112284425B
CN112284425B CN202011088954.4A CN202011088954A CN112284425B CN 112284425 B CN112284425 B CN 112284425B CN 202011088954 A CN202011088954 A CN 202011088954A CN 112284425 B CN112284425 B CN 112284425B
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circuit
capacitance
oscillating circuit
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CN112284425A (en
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侯景山
黄孝民
刘茂河
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Kailian Medical Technology Shanghai Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/24—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying capacitance
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/20—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature

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Abstract

The invention discloses a high-precision encoder based on an LC oscillation circuit and an implementation method thereof. The invention discards the technical route of encoding by using a code wheel through hole and detecting and converting photoelectric signals of the traditional digital encoder, adopts the LC electromagnetic oscillation principle to convert mechanical rotation into the change of inductance L or capacitance C, thereby changing the oscillation frequency of an LC circuit, converting the rotation angle and speed change of the code wheel into the change of the LC oscillation frequency, and measuring or digitally processing the LC oscillation frequency by using a phase discrimination circuit, a frequency discrimination circuit or a counting circuit, thereby realizing the high-precision measurement of the rotation speed and the angle of the code wheel.

Description

High-precision encoder based on LC oscillation circuit and implementation method
Technical Field
The invention relates to a high-precision encoder based on an LC oscillating circuit and an implementation method.
Background
At present, in various motor control or mechanical walking control schemes, various encoders are widely applied as sensors to measure various parameters such as speed, angle, position, distance, quantity and the like, and the parameters are converted into electric signals to be fed back. The encoder types include an analog encoder and a digital encoder according to different output signals of the encoders. The digital encoder is convenient for various digital processing and calculation through a computer because the output signal of the digital encoder is a digital signal, and has the most extensive application in an industrial control system.
Conventional digital encoders are classified into incremental encoders and absolute value encoders according to different encoding modes. In any type of encoder, the main components include a light source, a code wheel, a detection grating, a photoelectric detector and a conversion circuit, and the operation principle is to scan the code wheel mounted on a rotating shaft or a traveling shaft with a light through hole by using a photoelectric coupler to convert mechanical codes into proportional electrical pulse codes, as shown in fig. 1.
The light source unit (usually a visible or infrared LED) emits a narrow light beam to the receiver (usually a photodiode), the light source and receiver are mounted in the stationary part, and the code wheel is a light-shielding disc with a transparent opening and mounted on the rotating shaft. When the motor rotates, the coded disc can allow light beams to alternately pass through, and the photoelectric detection device can output a high level or a low level corresponding to the light beams according to the on-off of the light beams. The conversion circuit further shapes the signal output by the photoelectric detection device into square waves, so that subsequent circuit processing is facilitated.
As can be seen from the basic principle of the encoder, the conventional photoelectric encoder has the following disadvantages:
the encoding precision is limited:
the number of signal pulses which can be output by the coded disc rotating for one circle depends on the number of the optical through holes, the more the number of the signal pulses is, the higher the angle measurement accuracy is, but the coded disc is limited by the size of the coded disc, particularly in miniature equipment, the number of the through holes which can be carved on the coded disc in one circle is very limited, and the coding accuracy of an encoder is greatly limited. Although the number of pulse outputs can be further increased by reducing the diameter of the optical via and performing multi-turn patterning, the diameter of the optical via cannot be made as small as practical due to the detection sensitivity of the photodetector and the machining of the parts.
The signal jitter is severe:
the ideal digital encoder output signal should be a square wave signal. However, since the through holes of the code wheel are machined, machining errors such as uneven angle distribution, irregular shape or size of the through holes and the like exist, and the time and intensity of light beams passing through the code wheel are inconsistent, so that the output levels of the photoelectric detection device are different, the high and low levels are not inverted symmetrically, the signal phase is advanced or lagged, and the signal jitter is serious. Meanwhile, due to the fact that the shape of the through hole is irregular, the light passing intensity is not continuously and monotonously increased or continuously and monotonously decreased, signals are abnormally overturned, and counting errors are caused.
Signal output quality is sensitive to speed:
when the rotating speed of the code wheel is too slow (such as the initial starting stage of the motor), the output level of the photoelectric detection device rises or falls slowly, so that a sufficiently steep rising edge or falling edge cannot be formed, and the subsequent circuit cannot work normally. When the rotating speed of the code wheel is too fast (such as a high-speed motor), the shading and light passing time is too short, stable high and low levels cannot be formed or the level required by signal inversion cannot be reached due to the response performance of a photoelectric detection device, the quality of an output signal is poor, and even the code wheel cannot be used.
High precision encoders are costly.
High accuracy encoder relies on high accuracy processing equipment, and the code wheel preparation material requires to use low deformation high strength material and photoelectric device has higher response performance simultaneously, leads to whole encoder device high cost, can't accomplish low-cost application.
Disclosure of Invention
The invention aims to solve the technical problem that a high-precision encoder based on an LC oscillation circuit and an implementation method thereof abandon the technical route that the traditional digital encoder utilizes a code wheel through hole for encoding and detects and converts photoelectric signals, and adopts the principle of LC electromagnetic oscillation to convert mechanical rotation into the change of inductance L or capacitance C so as to change the oscillation frequency of the LC circuit, convert the rotation angle and the speed change of the code wheel into the change of LC oscillation frequency, and utilize a phase discrimination circuit, a frequency discrimination circuit or a counting circuit to measure or digitally process the LC oscillation frequency, thereby realizing the high-precision measurement of the rotation speed and the angle of the code wheel.
The invention is realized by the following technical scheme: a high-precision encoder based on an LC oscillating circuit comprises a code disc, the LC oscillating circuit, a frequency discriminator/counter circuit and a digital processing unit, wherein a medium material is sprayed on the code disc and is distributed according to a rule, the code disc is arranged between plate capacitors in the LC oscillating circuit to serve as a plate capacitor medium, the output end of the LC oscillating circuit is connected with the frequency discriminator/counter circuit, the frequency discriminator/counter circuit processes the frequency of the LC oscillating circuit to obtain the signal frequency or the frequency difference at a specific moment, and the output end of the frequency discriminator/counter circuit is connected with the digital processing unit.
Preferably, the dielectric material is copper, aluminum, gold or silver.
Preferably, the LC oscillating circuit is a capacitance three-point oscillating circuit or an inductance three-point oscillating circuit, and a continuous oscillating circuit is formed by a variable capacitance C and an inductance L.
As a preferred technical scheme, the code wheel comprises a rotating shaft and a medium material sprayed outside the rotating shaft.
A realization method of a high-precision encoder based on an LC oscillating circuit is characterized in that: a plate capacitor is constructed, the code disc is used as a variable interelectrode medium of the plate circuit, and the dielectric constant of the code disc is changed when the code disc rotates, so that the capacitance of the plate capacitor is changed;
by LC oscillating formula
Figure BDA0002720722680000031
It can be seen that the change of the oscillation frequency f is caused when the capacitance C is changed, thereby converting the angle change value Delta theta into the frequency change value Delta f, i.e. Delta theta->ΔC->And delta f, the frequency f is digitally measured and processed, and the change value and the change speed of the frequency f are detected, so that the high-precision measurement of the angle theta and the rotating speed omega of the code wheel can be completed.
As a preferred technical scheme, the capacitance formula of the parallel plate capacitor is as follows
Figure BDA0002720722680000032
Wherein epsilon 0 is a vacuum dielectric constant, S represents the relative area of two parallel metal plates, d represents the distance between the two plates, and the two plates are filled with a dielectric with a relative dielectric epsilon r, and the formula shows that when other parameters are unchanged, the capacitance of the parallel plate capacitor is in direct proportion to the relative dielectric epsilon r, and the formula of LC oscillation frequency is combined:
Figure BDA0002720722680000041
therefore, the oscillation frequency f can be changed by changing the relative dielectric ∈ r.
Compared with the traditional digital encoder, the invention has the following advantages:
the measurement precision is high, and because the LC circuit is sensitive to inductance L or capacitance C and can work at a high oscillation frequency, the small change of the angle of the code wheel can cause large change of the oscillation frequency, so that the measurement precision and the measurement error are high;
the device cost is low, the components used by the invention belong to common civil devices, the cost is low, and the structure is simple;
thirdly, the output signal quality is high, the amplitude of the output signal is only related to the oscillation circuit, and the output signal is not influenced by the code disc and other components;
the code wheel component is easy to process, and the code wheel component used by the invention does not need to be provided with holes, so that high-precision processing equipment is not required, and the component cost is lower.
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 embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of a conventional photoelectric encoder in the prior art;
FIG. 2 is a schematic diagram of an encoder of the present invention;
FIG. 3 is a schematic diagram of a plate capacitor according to the present invention;
FIG. 4 is a cross-sectional view of a code wheel of the present invention;
fig. 5 is a schematic diagram of an oscillation circuit of the present invention.
Detailed Description
All of the features disclosed in this specification, or all of the steps of any method or process so disclosed, may be combined in any combination, except combinations of features and/or steps that are mutually exclusive.
Any feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving equivalent or similar purposes, unless expressly stated otherwise. That is, unless expressly stated otherwise, each feature is only an example of a generic series of equivalent or similar features.
In the description of the present invention, it is to be understood that the terms "one end", "the other end", "outside", "upper", "inside", "horizontal", "coaxial", "central", "end", "length", "outer end", etc. indicate orientations or positional relationships based on those shown in the drawings, merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore, are not to be construed as limiting the invention.
Further, in the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless explicitly specified otherwise.
The use of terms such as "upper," "above," "lower," "below," and the like in describing relative spatial positions herein is for the purpose of facilitating description to describe one element or feature's relationship to another element or feature as illustrated in the figures. The spatially relative positional terms may be intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "below" can encompass both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly
In the present invention, unless otherwise explicitly specified or limited, the terms "disposed," "connected," "penetrating," "inserted," and the like are to be understood broadly, and may be, for example, fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be interconnected within two elements or in a relationship where two elements interact with each other unless otherwise specifically limited. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.
As shown in fig. 2, 4 and 5, the high-precision encoder based on the LC oscillator circuit of the present invention includes a code disc, an LC oscillator circuit, a frequency discriminator/counter circuit and a digital processing unit, wherein a dielectric material is coated on the code disc and distributed according to a rule, the code disc is arranged between plate capacitors in the LC oscillator circuit to serve as a plate capacitor medium, an output end of the LC oscillator circuit is connected with the frequency discriminator/counter circuit, the frequency discriminator/counter circuit processes the frequency of the LC oscillator circuit to obtain a signal frequency or a frequency difference at a specific moment, and an output end of the frequency discriminator/counter circuit is connected with the digital processing unit.
In this embodiment, the dielectric material is copper, aluminum, gold, silver, or the like, or may be another material, and the code wheel is placed between the flat capacitors to serve as a flat capacitor dielectric. When the code wheel rotates, the area of the dielectric material serving as a capacitance medium is different along with different rotation angles, and according to a plate capacitance formula, a plate capacitance C has a clear corresponding relation with the code wheel angle theta and the oscillation frequency f, namely the conversion of the code wheel angle theta and the oscillation frequency f is completed.
Wherein, 1, code wheel
The code wheel is a circular component which is fixed on the rotating shaft and sprayed with a specific medium, and synchronously rotates along with the rotation of the rotating shaft. The primary function is to act as a stable and continuously varying interpolar dielectric for the plate capacitor.
2. LC oscillating circuit
The circuit can be a capacitance three-point oscillation circuit, an inductance three-point oscillation circuit or other circuit forms, and a continuous oscillation circuit is mainly formed by a variable capacitor C and an inductance L.
3. Frequency discriminator/counter circuit
The LC oscillator circuit frequency is processed to obtain the signal frequency or frequency difference at a particular time.
4. Digital processing unit
The digital processing unit can be a component such as an MCU, a CPU, an FPGA, a DSP and the like which can carry out digital processing through a specific algorithm, and the current code wheel rotating angle is obtained through the corresponding relation between the frequency f and the code wheel rotating angle theta. If the frequency f is not linearly related to the code wheel rotation angle theta, the operation can be carried out by a table lookup or other modes.
As shown in FIG. 3, the invention mainly constructs a plate capacitor, and uses the code wheel as the variable interpolar medium of the plate circuit, and changes the dielectric constant of the code wheel when the code wheel rotates, thereby changing the capacitance of the plate capacitor;
by LC oscillating formula
Figure BDA0002720722680000071
It can be seen that the change of the oscillation frequency f is caused when the capacitance C is changed, thereby converting the value of the angle change Delta theta into the value of the frequency change Delta f, i.e. Delta theta->ΔC->And delta f, the frequency f is digitally measured and processed, and the change value and the change speed of the frequency f are detected, so that the high-precision measurement of the angle theta and the rotating speed omega of the code disc can be completed.
Wherein the capacitance formula of the parallel plate capacitor is
Figure BDA0002720722680000072
Wherein epsilon 0 is a vacuum dielectric constant, S represents the relative area of two parallel metal plates, d represents the distance between the two plates, and the two plates are filled with a dielectric with a relative dielectric epsilon r, and the formula shows that when other parameters are unchanged, the capacitance of the parallel plate capacitor is in direct proportion to the relative dielectric epsilon r, and the formula of LC oscillation frequency is combined:
Figure BDA0002720722680000073
therefore, the oscillation frequency f can be changed by changing the relative dielectric ∈ r.
Compared with the traditional digital encoder, the invention has the following advantages:
the measurement accuracy is high, and because the LC circuit is sensitive to inductance L or capacitance C and can work at a high oscillation frequency, the small change of the angle of the code wheel can cause large change of the oscillation frequency, so that the measurement accuracy and the measurement error are high;
the device cost is low, the components used by the invention belong to common civil devices, the cost is low, and the structure is simple;
the output signal quality is high, the amplitude of the output signal is only related to the oscillation circuit, and the output signal is not influenced by a code disc and other components;
the code wheel component is easy to process, and the code wheel component used by the invention does not need to be provided with holes, so that high-precision processing equipment is not required, and the component cost is lower.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that are not thought of through the inventive work should be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope defined by the claims.

Claims (4)

1. A high accuracy encoder based on LC oscillating circuit which characterized in that: the code disc is coated with a dielectric material and the dielectric material is distributed according to a rule, the code disc is arranged between plate capacitors in the LC oscillating circuit and serves as a plate capacitor medium, the output end of the LC oscillating circuit is connected with the frequency discriminator/counter circuit, the frequency discriminator/counter circuit processes the frequency of the LC oscillating circuit to obtain the signal frequency or the frequency difference at a specific moment, and the output end of the frequency discriminator/counter circuit is connected with the digital processing unit;
the implementation method of the high-precision encoder based on the LC oscillating circuit comprises the following steps: a plate capacitor is constructed, the code disc is used as a variable interelectrode medium of the plate circuit, and the dielectric constant of the code disc is changed when the code disc rotates, so that the capacitance of the plate capacitor is changed;
by LC oscillating formula
Figure DEST_PATH_IMAGE002
It is known that the change of the capacitance C causes the oscillation frequency f to changeThereby converting the value of the angle change delta theta into the value of the frequency change delta f, namely delta theta->ΔC->Delta f, the frequency f is digitally measured and processed, and the change value and the change speed of the frequency f are detected, so that the high-precision measurement of the angle theta and the rotating speed omega of the code disc can be completed; the capacitance of a parallel plate capacitor is formulated as
Figure DEST_PATH_IMAGE004
In which epsilon 0 For the vacuum dielectric constant, S represents the relative area of the two parallel metal plates, d represents the distance between the two plates, and the two plates are filled with a relative dielectric of ε r The dielectric medium (c) is obtained by the formula that the capacitance and relative dielectric of the parallel plate capacitor are epsilon r Proportional, combined with the LC oscillation frequency equation:
Figure 894512DEST_PATH_IMAGE002
thus, by varying the relative dielectric ε r The oscillation frequency f can be changed.
2. The LC tank circuit based high precision encoder according to claim 1, wherein: the dielectric material is copper or aluminum or gold or silver.
3. The LC tank circuit based high precision encoder according to claim 1, wherein: the LC oscillating circuit is a capacitance three-point oscillating circuit or an inductance three-point oscillating circuit, and a continuous oscillating circuit is formed by using a variable capacitor C and an inductance L.
4. The LC tank circuit based high precision encoder according to claim 1, wherein: the code wheel comprises a rotating shaft and a medium material sprayed outside the rotating shaft.
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