CN112378425A - Initial value setting method and device for multi-turn absolute value encoder and storage medium - Google Patents
Initial value setting method and device for multi-turn absolute value encoder and storage medium Download PDFInfo
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- 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
- G01D5/244—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 characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/245—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 characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
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Abstract
The invention discloses a method, a device and a storage medium for setting an initial value of a multi-turn absolute value encoder, wherein the method comprises the following steps: acquiring the maximum pulse number of a multi-turn absolute value encoder, wherein the multi-turn absolute value encoder is arranged on target equipment; acquiring the pulse number variation of a multi-turn absolute value encoder corresponding to the target equipment in an effective stroke; calculating a target reference ratio based on the maximum pulse number and the pulse number variation of a multi-turn absolute value encoder corresponding to the target device in an effective stroke; an initial set value is determined based on the target reference ratio. The invention can effectively and quickly improve the efficiency of setting the initial value of the absolute value encoder.
Description
Technical Field
The present invention relates to the field of position control, and in particular, to a method and an apparatus for setting an initial value of a multi-turn absolute encoder, and a storage medium.
Background
In the fields of textile machinery, irrigation machinery, paper printing, robots and mechanical arms, hoisting machinery, ferrous metallurgy, and the like, accurate measurement of the position of equipment is required. The absolute value encoder determines the code through the mechanical position, does not need to be externally provided with memory, does not need to find a reference point, does not need to count all the time, and can directly read the position of the device by knowing the correct position of the device at any time, so that the absolute value encoder has the advantages of large measurement range, high measurement precision, convenience in installation and the like. In recent years, the device has been widely used in the field of position control.
The absolute value encoder is divided into a single-turn absolute value encoder and a multi-turn absolute value encoder, and when the measuring rotation exceeds the range of 360 degrees, the multi-turn absolute value encoder is required. However, although the multi-turn encoder has the advantages of large measurement range and more abundant use, the zero point position is not noticed during installation, and if the zero point position is relatively close to the highest position of the encoder, a data overflow (overturn) phenomenon may occur when the device moves and the encoder rotates.
In the prior art, in order to avoid the data overflow phenomenon of the absolute value encoder, the encoder is usually rotated by hand before the absolute value encoder is installed, so that the pulse output number of the encoder is in a middle proper position, and then the encoder is installed on a rotating shaft of mechanical equipment, and whether the overflow phenomenon exists is checked in the debugging and moving process. If there is an overflow, the encoder is removed and the adjustment is again rotated by hand. Such an operation is not only cumbersome but also very time consuming.
Disclosure of Invention
The embodiment of the application provides a method and a device for setting the initial value of a multi-turn absolute value encoder and a storage medium, solves the technical problems that the manual adjustment for setting the initial value of the multi-turn absolute value encoder in the prior art is troublesome in operation and wastes time, and realizes the rapid setting of the initial value of the multi-turn absolute value encoder.
In a first aspect, the present application provides a method for setting an initial value of a multi-turn absolute value encoder, where the method includes:
acquiring the maximum pulse number of a multi-turn absolute value encoder, wherein the multi-turn absolute value encoder is arranged on target equipment;
acquiring the pulse number variation of a multi-turn absolute value encoder corresponding to the target equipment in an effective stroke;
calculating a target reference ratio based on the maximum pulse number and the pulse number variation of a multi-turn absolute value encoder corresponding to the target device in an effective stroke;
an initial set value is determined based on the target reference ratio.
Preferably, the acquiring a pulse number variation of a multi-turn absolute value encoder corresponding to the target device in an active stroke includes:
acquiring the pulse number of a multi-turn absolute value encoder when the target equipment moves to the maximum position;
acquiring the pulse number of a multi-turn absolute value encoder when the target equipment moves to the minimum position;
and acquiring the pulse number variation of the multi-turn absolute value encoder corresponding to the target equipment in the effective stroke based on the pulse number of the multi-turn absolute value encoder when the target equipment moves to the maximum position and the pulse number of the multi-turn absolute value encoder when the target equipment moves to the minimum position.
Preferably, the calculating the target reference ratio based on the maximum pulse number and the pulse number variation of the multi-turn absolute value encoder corresponding to the target device in the active stroke includes:
and calculating the ratio of the pulse number variation of the multi-turn absolute value encoder corresponding to the target equipment in the effective stroke to the maximum pulse number.
Preferably, the determining an initial setting value based on the target reference ratio includes:
setting the range of the initial set value to be 9% -11% of the maximum pulse number when the target reference ratio is 80% -100%;
setting the range of the initial set value to be 14% -16% of the maximum pulse number when the target reference ratio is 50% -80%;
when the target reference ratio is 30% -50%, setting the range of the initial set value to be 18% -22% of the maximum pulse number;
setting the range of the initial set value to be 27% -33% of the maximum pulse number when the target reference ratio is 10% -30%;
and when the target reference ratio is 0-10%, setting the range of the initial set value to be 9-10% of the maximum pulse number.
Preferably, before the determining the initial set value based on the target reference ratio, the method further comprises:
determining the target position of the target equipment corresponding to the target reference ratio based on the preset corresponding relation among the target reference ratio, the reference ratio and the equipment position;
setting the reading of the multi-turn absolute value encoder to the initial set value when the target device is at the target position.
Preferably, the determining an initial setting value based on the target reference ratio further includes:
if the target reference ratio is smaller than a preset reference ratio and the target equipment is from an initial position to the maximum position, acquiring a first reading of the multi-turn absolute value encoder at the maximum position;
setting the initial setting value of the multi-turn absolute value encoder at the minimum position as the first reading when the target device is from the maximum position to the minimum position.
Preferably, when the target device is moved from the maximum position to the minimum position, the method further comprises setting the multi-turn absolute value encoder after the initial setting of the minimum position is the first reading:
performing a verification step, the verification step comprising: when the target device is from the minimum position to the maximum position, acquiring a second reading of the multi-turn absolute value encoder at the maximum position; determining whether the second read overflows; if so, the second reading is taken as the first reading to repeatedly execute the verification step until the second reading does not overflow.
In a second aspect, the present application provides an apparatus for setting an initial value of a multi-turn absolute value encoder, the apparatus comprising:
the device comprises a first acquisition unit, a second acquisition unit and a third acquisition unit, wherein the first acquisition unit is used for acquiring the maximum pulse number of a multi-turn absolute value encoder, and the multi-turn absolute value encoder is arranged on target equipment;
the second acquisition unit is used for acquiring the pulse number variation of the multi-turn absolute value encoder corresponding to the target equipment in the effective stroke;
the third processing unit is used for calculating a target reference ratio based on the maximum pulse number and the pulse number variation of a multi-turn absolute value encoder corresponding to the target device in an effective stroke;
a fourth processing unit that determines an initial setting value based on the target reference ratio.
Preferably, the acquiring a pulse number variation of a multi-turn absolute value encoder corresponding to the target device in an active stroke includes:
acquiring the pulse number of a multi-turn absolute value encoder when the target equipment moves to the maximum position;
acquiring the pulse number of a multi-turn absolute value encoder when the target equipment moves to the minimum position;
and acquiring the pulse number variation of the multi-turn absolute value encoder corresponding to the target equipment in the effective stroke based on the pulse number of the multi-turn absolute value encoder when the target equipment moves to the maximum position and the pulse number of the multi-turn absolute value encoder when the target equipment moves to the minimum position.
Preferably, the calculating the target reference ratio based on the maximum pulse number and the pulse number variation of the multi-turn absolute value encoder corresponding to the target device in the active stroke includes:
and calculating the ratio of the pulse number variation of the multi-turn absolute value encoder corresponding to the target equipment in the effective stroke to the maximum pulse number.
Preferably, the determining an initial setting value based on the target reference ratio includes:
setting the range of the initial set value to be 9% -11% of the maximum pulse number when the target reference ratio is 80% -100%;
setting the range of the initial set value to be 14% -16% of the maximum pulse number when the target reference ratio is 50% -80%;
when the target reference ratio is 30% -50%, setting the range of the initial set value to be 18% -22% of the maximum pulse number;
setting the range of the initial set value to be 27% -33% of the maximum pulse number when the target reference ratio is 10% -30%;
and when the target reference ratio is 0-10%, setting the range of the initial set value to be 9-10% of the maximum pulse number.
Preferably, before the determining the initial set value based on the target reference ratio, the apparatus further includes:
determining the target position of the target equipment corresponding to the target reference ratio based on the preset corresponding relation among the target reference ratio, the reference ratio and the equipment position;
setting the reading of the multi-turn absolute value encoder to the initial set value when the target device is at the target position.
Preferably, the determining an initial setting value based on the target reference ratio further includes:
if the target reference ratio is smaller than a preset reference ratio and the target equipment is from an initial position to the maximum position, acquiring a first reading of the multi-turn absolute value encoder at the maximum position;
setting the initial setting value of the multi-turn absolute value encoder at the minimum position as the first reading when the target device is from the maximum position to the minimum position.
Preferably, when the target device is moved from the maximum position to the minimum position, the apparatus further includes:
a verification unit for performing a verification step, the verification step comprising: when the target device is from the minimum position to the maximum position, acquiring a second reading of the multi-turn absolute value encoder at the maximum position; determining whether the second read overflows; if so, the second reading is taken as the first reading to repeatedly execute the verification step until the second reading does not overflow.
In a third aspect, the present application provides an apparatus for setting an initial value of a multi-turn absolute encoder, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the aggregation task processing method when executing the program.
In a fourth aspect, the present application provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of any of the methods described above.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:
in the initial value setting method of the multi-turn absolute value encoder arranged on the target device, after the maximum pulse number of the multi-turn absolute value encoder and the pulse number variation of the multi-turn absolute value encoder corresponding to the target device in the effective stroke are obtained; calculating a target reference ratio based on the maximum pulse number and the pulse number variation of a multi-turn absolute value encoder corresponding to the target device in an effective stroke; an initial set value is then determined based on the reference ratio.
In the embodiment of the invention, the initial set value is determined by calculating the target reference ratio, so that the condition of data overflow of the multi-turn absolute value encoder is effectively prevented, the probability of damage to the multi-turn absolute value encoder caused by manual disassembly and installation is reduced, and manpower, material resources and time are saved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
Fig. 1 is a flowchart of an initial value setting method for a multi-turn absolute value encoder according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an initial value setting device of a multi-turn absolute value encoder according to a second embodiment of the present invention;
fig. 3 is a schematic diagram of an initial value setting device of a multi-turn absolute value encoder according to a third embodiment of the present invention.
Detailed Description
The embodiment of the application provides a method for setting the initial value of a multi-turn absolute value encoder, and solves the technical problems that the steps for manually setting the initial value by manual disassembly are complicated and the time is wasted in the prior art.
In order to solve the technical problems, the general idea of the embodiment of the application is as follows:
a method for setting an initial value of a multi-turn absolute value encoder, the method comprising: acquiring the maximum pulse number of a multi-turn absolute value encoder, wherein the multi-turn absolute value encoder is arranged on target equipment; acquiring the pulse number variation of a multi-turn absolute value encoder corresponding to the target equipment in an effective stroke; calculating a target reference ratio based on the maximum pulse number and the pulse number variation of a multi-turn absolute value encoder corresponding to the target device in an effective stroke; an initial set value is determined based on the target reference ratio.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
First, it is stated that the term "and/or" appearing herein is merely one type of associative relationship that describes an associated object, meaning that three types of relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
Example one
The present embodiment provides a method for setting an initial value of a multi-turn absolute encoder, as shown in fig. 1, which is a flowchart of the method for setting an initial value of a multi-turn absolute encoder provided in the embodiments of the present specification, and the method includes the following steps:
step S101: acquiring the maximum pulse number of a multi-turn absolute value encoder, wherein the multi-turn absolute value encoder is arranged on target equipment;
step S102: acquiring the pulse number variation of a multi-turn absolute value encoder corresponding to the target equipment in an effective stroke;
step S103: calculating a target reference ratio based on the maximum pulse number and the pulse number variation of a multi-turn absolute value encoder corresponding to the target device in an effective stroke;
step S104: an initial set value is determined based on the target reference ratio.
In the method for setting the initial value of the multi-turn absolute value encoder provided in the embodiment of the present specification, a specific implementation scenario may be that a computer controls the multi-turn absolute value encoder set on a target device through a PLC to set the initial value, and the target device may be a crane, a lifter, a strip steel edge-cutting circle shear, an automatic control operating table, an elevator, or the like, which is not limited herein.
In the specific implementation process, step S101 is first executed: and acquiring the maximum pulse number of a multi-turn absolute value encoder, wherein the multi-turn absolute value encoder is arranged on target equipment.
Specifically, the multi-turn absolute value encoders of different models have different data structures, such as a binary 23-bit data structure, a binary 24-bit data structure, and the like. Different data structures have different measuring ranges and different corresponding maximum pulse numbers. The maximum pulse number of the multi-turn absolute value encoder can be manually read through a specification of the multi-turn absolute value encoder and then recorded in the PLC; and the system can also be obtained by the interaction of a computer and a PLC and a multi-turn absolute value encoder. For example, the maximum number of pulses of a certain type of multi-turn absolute value encoder is 22416777216, the record is read by human input or computer in the PLC.
Next, step S102 is performed: and acquiring the pulse number variation of the multi-turn absolute value encoder corresponding to the target equipment in the effective stroke.
Specifically, the target device needs to move or rotate within a certain range during operation. When the multi-turn absolute value encoder is installed on the target device, the target device generates the number of pulses of the multi-turn absolute value encoder corresponding to each position in the moving or rotating process. The effective stroke refers to the range size of the target device needing to move or rotate when the target device works, and the pulse number variation of the multi-turn absolute value encoder is the pulse number variation of the multi-turn absolute value encoder in the process that the target device moves or rotates in the effective stroke.
It has been mentioned above that the target devices may be cranes, elevators, strip edge trimmers, automatically controlled operating tables, elevators, etc., where strip edge trimmers are taken as an example, strip edge trimmers usually have two sets of blades, one set running online and the other set off-line for standby or maintenance. When the blade set needs to be changed, the rotary disc shear worktable is required to perform off-line/on-line blade set switching, and the rotary positioning of the worktable depends on a multi-turn absolute value encoder arranged on a worktable motor. Assuming that the pulse number of the multi-turn absolute value encoder is 10 at the start position and 100 at the end position of the worktable, the pulse number variation of the multi-turn absolute value encoder is 90.
As an alternative embodiment, the step S102 of acquiring the pulse number variation of the multi-turn absolute value encoder corresponding to the target device in the active stroke may further be:
acquiring the pulse number of a multi-turn absolute value encoder when the target equipment moves to the maximum position;
acquiring the pulse number of a multi-turn absolute value encoder when the target equipment moves to the minimum position;
and acquiring the pulse number variation of the multi-turn absolute value encoder corresponding to the target equipment in the effective stroke based on the pulse number of the multi-turn absolute value encoder when the target equipment moves to the maximum position and the pulse number of the multi-turn absolute value encoder when the target equipment moves to the minimum position.
In a specific implementation, the maximum position and the minimum position may be the maximum physical position and the minimum physical position where the target device needs to move or rotate. It should be noted that the target device is usually moved left and right, moved up and down, or rotated forward and backward, and the number of pulses of the multi-turn absolute value encoder may be increased or decreased during the movement of the target device due to the different installation directions of the multi-turn absolute value encoder.
Still take the strip steel trimming circle shear as an example, when the blade group needs to be cut, if the worktable needs to rotate from 0 degree to 180 degrees, then 0 degree corresponds to the minimum position of the worktable, 180 degrees corresponds to the maximum position of the worktable, and the effective stroke is 180 degrees. And acquiring the pulse number of the multi-turn absolute value encoder when the workbench is at a 0-degree position and the pulse number of the multi-turn absolute value encoder when the workbench is at a 180-degree position. For example, if the pulse numbers of the multi-turn absolute value encoder are 100 and 200, respectively, the amount of change in the pulse number of the multi-turn absolute value encoder corresponding to the stage within 180 degrees of the effective stroke is 100.
Further, step S103 is performed: and calculating the target reference ratio based on the maximum pulse number and the pulse number variation of the multi-turn absolute value encoder corresponding to the target equipment in the effective stroke.
Specifically, after the maximum pulse number and the pulse number variation of a multi-turn absolute value encoder corresponding to the target device in the effective stroke are obtained, the obtained data can be corrected through the computer control PLC, and after the correction is finished, the target reference ratio is calculated through a preset algorithm through the computer control PLC.
In the embodiments of the present specification, the target reference ratio may be obtained by calculation in the following manner:
and calculating the ratio of the pulse number variation of the multi-turn absolute value encoder corresponding to the target equipment in the effective stroke to the maximum pulse number, and taking the ratio as the target reference ratio.
Specifically, after the maximum pulse number and the pulse number variation of the multi-turn absolute value encoder corresponding to the target device in the effective stroke are calibrated, the maximum pulse number and the pulse number variation of the multi-turn absolute value encoder corresponding to the target device in the effective stroke can be subjected to quotient by the computer control PLC, so that a target reference ratio is obtained, namely the ratio of the pulse number variation of the multi-turn absolute value encoder corresponding to the target device in the effective stroke in the measuring range of the multi-turn absolute value encoder.
Then, step S104 is performed: an initial set value is determined based on the target reference ratio.
Specifically, the initial setting value of the multi-turn absolute value encoder can be determined according to the calculated target reference ratio (namely the occupation ratio of the pulse number variation of the multi-turn absolute value encoder corresponding to the target device in the effective stroke in the range of the multi-turn absolute value encoder).
After the target reference ratio is obtained, the initial setting value of the multi-turn absolute value encoder can be determined by:
setting the range of the initial set value to be 9% -11% of the maximum pulse number when the target reference ratio is 80% -100%;
setting the range of the initial set value to be 14% -16% of the maximum pulse number when the target reference ratio is 50% -80%;
setting the range of the initial set value to be 18% -22% of the maximum pulse number when the target reference ratio is 30% -50%;
setting the range of the initial set value to be 27% -33% of the maximum pulse number when the target reference ratio is 10% -30%;
setting the range of the initial set value to be 9% -10% of the maximum pulse number when the target reference ratio is 0% -10%.
Specifically, when the target reference ratio is 50% to 80%, the initial setting value range of the multi-turn absolute value encoder is set to 14% to 16% of the maximum number of pulses thereof. For example: the maximum pulse number of a certain multi-turn absolute value encoder is 1000, when the target reference ratio is 60%, the range of the initial set value of the multi-turn absolute value encoder is set to be 140-160, and the initial set value of the multi-turn absolute value encoder can be any value in 140-160. Other methods for setting the initial setting value range of the multi-turn absolute value encoder corresponding to the reference ratio are consistent with the above method, and are not described one by one here.
As an alternative embodiment, before step S104, the present solution further includes:
determining the target position of the target equipment corresponding to the target reference ratio based on the preset corresponding relation among the target reference ratio, the reference ratio and the equipment position;
setting the reading of the multi-turn absolute value encoder to the initial set value when the target device is at the target position.
Specifically, in order to better prevent the data overflow of the multi-turn absolute value encoder, the device mounted with the multi-turn absolute value encoder may be placed at a suitable position, which may be determined by a target reference ratio, a preset correspondence of the reference ratio with the device position, and after the target position of the device mounted with the multi-turn absolute value encoder is determined, the initial setting value may be determined by the target reference ratio.
The preset corresponding relationship between the reference ratio and the device position may be set according to actual needs, for example, the preset corresponding relationship may be: setting the target position of the target device to a minimum position when the target reference ratio is 30% -100%; when the target reference ratio is 0% -30%, the target position of the target device is set to the maximum position. For example: setting a target position of the target device to a minimum position when the reference ratio is 50%, the setting of the initial setting value being performed when the target device is at the minimum position; when the reference ratio is 21%, the target position of the target device is set to the maximum position, and the setting of the initial setting value is performed when the target device is at the maximum position.
As an alternative embodiment, step S104 further includes:
if the target reference ratio is smaller than a preset reference ratio, when the target equipment moves from an initial position to the maximum position, acquiring a first reading of the multi-turn absolute value encoder at the maximum position;
determining an initial setting of the multi-turn absolute encoder at the minimum position as the first reading when the target device moves from the maximum position to the minimum position.
In a specific implementation process, the preset reference ratio may be set according to actual needs, for example, the preset reference ratio is 10%, 15%, and the like. The initial position of the target device can be any position from the minimum position to the maximum position of the target device, and when the target device moves from the initial position to the maximum position and the target device reaches the maximum position, the pulse number of the multi-turn absolute value encoder at the moment is obtained and used as a first reading; the target device is then moved from the maximum position to the minimum position, and the initial preset value of the multi-turn absolute encoder is set to the first reading when the target device reaches the minimum position.
For example: after a certain machine tool provided with a multi-turn absolute value encoder moves from an initial position to a maximum position, recording the pulse number of the multi-turn absolute value encoder as A, then moving the machine tool to a minimum position, and setting the initial set value of the multi-turn absolute value encoder arranged on the machine tool as A.
Further, the scheme in the embodiment of the present specification further includes the following steps:
performing a verification step, the verification step comprising: when the target device moves from the minimum position to the maximum position, acquiring a second reading of the multi-turn absolute value encoder at the maximum position;
and determining whether the second reading overflows or not, and if the second reading overflows, taking the second reading as the first reading and repeatedly executing the verification step until the second reading does not overflow.
Specifically, the verification step is to confirm that the first reading as the initial preset value will not cause the encoder to overflow, and how to handle the overflow condition. After the first reading is set to be the initial preset value of the encoder, the target device is moved to the maximum position, and the number of encoder pulses at the moment is recorded as a second reading. And then observing whether the second reading is an overflow value, if so, modifying the initial set value into the second reading, and repeating the steps until the second reading is not the overflow value. For example, the maximum number of pulses for a multi-turn absolute encoder is 1000, and the first reading is 1000 (i.e., the initial preset value for the encoder is set to 1000) before performing the verification step. After the target device moves from the minimum position to the maximum position, if the second reading is 200, it indicates that the data of the multi-turn absolute value encoder overflows, 200 is used as the initial setting value of the minimum position, and the verification step is repeatedly executed.
Further, the active range of the target device may also be verified.
Specifically, when the target device moves to the maximum position, the number of pulses of the multi-turn absolute value encoder at the maximum position is obtained as a first reading, then the target device is moved to the minimum position, and the initial setting value of the multi-turn absolute value encoder is set as the first reading. And moving the target device to the maximum position, and acquiring the pulse number B of the multi-turn absolute value encoder at the maximum position, wherein taking the first reading as a as an example, the stroke R1 of the target device can be acquired as B-a. Further moving the target device to the minimum position, acquiring the pulse number C of the multi-turn absolute value encoder at the minimum position at this time, and obtaining the stroke R2 of the target device as B-C. This gives a stroke R3 which is the average of R1 and R2. Whether the effective stroke of the target device is accurate can be verified according to the R3, for example, when the error between the R3 and the effective stroke of the target device meets a preset stroke range, the effective stroke of the target device is determined to be accurate.
In addition, in the process of verifying the effective stroke, if the target device moves from the minimum position to the maximum position or from the maximum position to the minimum position, if data overflow of the multi-turn absolute value encoder is detected, the verification step is repeatedly executed, and the initial set value of the target device is re-determined, so that the value of the multi-turn absolute value encoder cannot overflow in the whole moving process of the target device.
The technical scheme in the embodiment of the application at least has the following technical effects or advantages:
1. in the embodiment of the invention, the initial set value is determined by calculating the target reference ratio, so that the condition of data overflow of the multi-turn absolute value encoder is effectively prevented, the probability of damage to the multi-turn absolute value encoder caused by manual disassembly and installation is reduced, and manpower, material resources and time are saved.
2. In the embodiment of the invention, the values are calculated and obtained by combining the PLC directly through the computer, so that the method is quicker and more accurate than manual operation.
Example two
Based on the same inventive concept, an embodiment of the present disclosure provides an initial value setting apparatus 200 for a multi-turn absolute value encoder, as shown in fig. 2, including:
a first obtaining unit 201, configured to obtain a maximum number of pulses of a multi-turn absolute value encoder, where the multi-turn absolute value encoder is disposed on a target device;
a second obtaining unit 202, configured to obtain a pulse number variation of a multi-turn absolute encoder corresponding to the target device in an active stroke;
the third processing unit 203 calculates a target reference ratio based on the maximum pulse number and the pulse number variation of a multi-turn absolute value encoder corresponding to the target device in an effective stroke;
the fourth processing unit 204 determines an initial setting value based on the target reference ratio.
Optionally, the second obtaining unit 202 is further configured to:
acquiring the pulse number of a multi-turn absolute value encoder when the target equipment moves to the maximum position;
acquiring the pulse number of a multi-turn absolute value encoder when the target equipment moves to the minimum position;
and acquiring the pulse number variation of the multi-turn absolute value encoder corresponding to the target equipment in the effective stroke based on the pulse number of the multi-turn absolute value encoder when the target equipment moves to the maximum position and the pulse number of the multi-turn absolute value encoder when the target equipment moves to the minimum position.
Optionally, the third processing unit 203 is further configured to:
and calculating the ratio of the pulse number variation of the multi-turn absolute value encoder corresponding to the target equipment in the effective stroke to the maximum pulse number.
Optionally, the fourth processing unit 204 is further configured to:
setting the range of the initial set value to be 9% -11% of the maximum pulse number when the target reference ratio is 80% -100%;
setting the range of the initial set value to be 14% -16% of the maximum pulse number when the target reference ratio is 50% -80%;
when the target reference ratio is 30% -50%, setting the range of the initial set value to be 18% -22% of the maximum pulse number;
setting the range of the initial set value to be 27% -33% of the maximum pulse number when the target reference ratio is 10% -30%;
and when the target reference ratio is 0-10%, setting the range of the initial set value to be 9-10% of the maximum pulse number.
Optionally, the fourth processing unit 204 is further configured to:
if the target reference ratio is smaller than a preset reference ratio and the target equipment is from an initial position to the maximum position, acquiring a first reading of the multi-turn absolute value encoder at the maximum position;
setting the initial setting value of the multi-turn absolute value encoder at the minimum position as the first reading when the target device is from the maximum position to the minimum position.
Optionally, the fourth processing unit 204 further includes:
a verification unit for performing a verification step, the verification step comprising: when the target device is from the minimum position to the maximum position, acquiring a second reading of the multi-turn absolute value encoder at the maximum position; determining whether the second read overflows; if so, the second reading is taken as the first reading to repeatedly execute the verification step until the second reading does not overflow.
With regard to the above-mentioned apparatus, the specific functions of each unit have been described in detail in the embodiment of the initial value setting method of the multi-turn absolute value encoder provided in the embodiment of the present specification, and will not be described in detail here.
EXAMPLE III
Based on the same inventive concept as the aggregation task processing method in the foregoing embodiment, an embodiment of this specification further provides an initial value setting device for a multi-turn absolute value encoder, as shown in fig. 3, including:
a memory 304, a processor 302 and a computer program stored in the memory 304 and executable on the processor 302, wherein the processor 302 executes the program to implement the steps of the initial value setting method of the multi-turn absolute value encoder as described above.
Where in fig. 3 a bus architecture (represented by bus 300), bus 300 may include any number of interconnected buses and bridges, bus 300 linking together various circuits including one or more processors, represented by processor 302, and memory, represented by memory 304. The bus 300 may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface 306 provides an interface between the bus 300 and the receiver 301 and transmitter 303. The receiver 301 and the transmitter 303 may be the same element, i.e., a transceiver, providing a means for communicating with various other apparatus over a transmission medium. The processor 302 is responsible for managing the bus 300 and general processing, and the memory 304 may be used for storing data used by the processor 302 in performing operations.
Example four
Based on the same inventive concept, embodiments of the present specification provide a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the steps of any one of the methods for setting the initial value of the multi-turn absolute value encoder described above.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A method for setting an initial value of a multi-turn absolute value encoder is characterized by comprising the following steps:
acquiring the maximum pulse number of a multi-turn absolute value encoder, wherein the multi-turn absolute value encoder is arranged on target equipment;
acquiring the pulse number variation of a multi-turn absolute value encoder corresponding to the target equipment in an effective stroke;
calculating a target reference ratio based on the maximum pulse number and the pulse number variation of a multi-turn absolute value encoder corresponding to the target device in an effective stroke;
an initial set value is determined based on the target reference ratio.
2. The method for setting the initial value of the multi-turn absolute value encoder according to claim 1, wherein the obtaining of the pulse number variation of the multi-turn absolute value encoder corresponding to the target device in the active stroke comprises:
acquiring the pulse number of a multi-turn absolute value encoder when the target equipment moves to the maximum position;
acquiring the pulse number of a multi-turn absolute value encoder when the target equipment moves to the minimum position;
and obtaining the pulse number variation of the multi-turn absolute value encoder corresponding to the target equipment in the effective stroke based on the pulse number of the multi-turn absolute value encoder when the target equipment moves to the maximum position and the pulse number of the multi-turn absolute value encoder when the target equipment moves to the minimum position.
3. The method for setting an initial value of a multi-turn absolute value encoder according to claim 1, wherein the calculating the target reference ratio based on the maximum number of pulses and a number of changes in the number of pulses of the multi-turn absolute value encoder corresponding to the target device within an active stroke comprises:
and calculating the ratio of the pulse number variation of the multi-turn absolute value encoder corresponding to the target equipment in the effective stroke to the maximum pulse number, and taking the ratio as the target reference ratio.
4. The multi-turn absolute value encoder initial value setting method of claim 1, wherein the determining an initial setting value based on the target reference ratio includes:
setting the range of the initial set value to be 9% -11% of the maximum pulse number when the target reference ratio is 80% -100%;
setting the range of the initial set value to be 14% -16% of the maximum pulse number when the target reference ratio is 50% -80%;
setting the range of the initial set value to be 18% -22% of the maximum pulse number when the target reference ratio is 30% -50%;
setting the range of the initial set value to be 27% -33% of the maximum pulse number when the target reference ratio is 10% -30%;
setting the range of the initial set value to be 9% -10% of the maximum pulse number when the target reference ratio is 0% -10%.
5. The method of setting an initial value of a multi-turn absolute value encoder according to claim 1, wherein before determining an initial set value based on the target reference ratio, the method further comprises:
determining the target position of the target equipment corresponding to the target reference ratio based on the preset corresponding relation among the target reference ratio, the reference ratio and the equipment position;
setting the reading of the multi-turn absolute value encoder to the initial set value when the target device is at the target position.
6. The multi-turn absolute value encoder initial value setting method of claim 2, wherein the determining an initial setting value based on the target reference ratio further comprises:
if the target reference ratio is smaller than a preset reference ratio, when the target equipment moves from an initial position to the maximum position, acquiring a first reading of the multi-turn absolute value encoder at the maximum position;
determining an initial setting of the multi-turn absolute encoder at the minimum position as the first reading when the target device moves from the maximum position to the minimum position.
7. The method of claim 6, wherein the initial setting value of the multi-turn absolute encoder at the minimum position is set to the first reading when the target device is moved from the maximum position to the minimum position, the method further comprising:
performing a verification step, the verification step comprising: when the target device moves from the minimum position to the maximum position, acquiring a second reading of the multi-turn absolute value encoder at the maximum position;
and determining whether the second reading overflows or not, and if the second reading overflows, taking the second reading as the first reading and repeatedly executing the verification step until the second reading does not overflow.
8. An initial value setting apparatus for a multiturn absolute value encoder, the apparatus comprising:
the device comprises a first acquisition unit, a second acquisition unit and a third acquisition unit, wherein the first acquisition unit is used for acquiring the maximum pulse number of a multi-turn absolute value encoder, and the multi-turn absolute value encoder is arranged on target equipment;
the second acquisition unit is used for acquiring the pulse number variation of the multi-turn absolute value encoder corresponding to the target equipment in the effective stroke;
the third processing unit is used for calculating a target reference ratio based on the maximum pulse number and the pulse number variation of a multi-turn absolute value encoder corresponding to the target device in an effective stroke;
a fourth processing unit that determines an initial setting value based on the target reference ratio.
9. An initial value setting device of a multi-turn absolute value encoder is characterized by comprising a processor and a memory:
the memory is used for storing a program for executing the method of any one of claims 1-7;
the processor is configured to execute programs stored in the memory.
10. A computer-readable storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
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