CN112491214A - Multi-turn calculating device and multi-turn calculating method - Google Patents
Multi-turn calculating device and multi-turn calculating method Download PDFInfo
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- CN112491214A CN112491214A CN202011307520.9A CN202011307520A CN112491214A CN 112491214 A CN112491214 A CN 112491214A CN 202011307520 A CN202011307520 A CN 202011307520A CN 112491214 A CN112491214 A CN 112491214A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/225—Detecting coils
Abstract
The embodiment of the invention relates to the technical field of servo motors, and discloses a multi-turn resolving device which comprises: the encoder is used for connecting a motor and acquiring the current multi-turn value of the motor; and the controller is connected with the encoder and is used for acquiring the current multi-turn value, counting the overflow times when the current multi-turn value reaches a preset multi-turn upper limit value, and determining the current actual multi-turn value of the motor according to the current multi-turn value, the preset multi-turn upper limit value and the overflow times. The multi-turn calculating device and the multi-turn calculating method can solve the problem of multi-turn overflow and accurately record the absolute position of the motor.
Description
Technical Field
The embodiment of the invention relates to the technical field of servo motors, in particular to a multi-turn calculating device and a multi-turn calculating method.
Background
In industrial manufacturing, an alternating current permanent magnet synchronous motor is needed to drive equipment such as a machine tool, a mechanical arm and an engraving machine. In order to realize accurate three-loop control of the motor, a stable and accurate high-precision rotary encoder is indispensable, a motor position feedback value of a position loop is obtained by the encoder, and a high-precision absolute encoder can detect a single-loop value and a multi-loop value of the motor.
However, the inventors found that at least the following problems exist in the related art: the single-circle value and the multi-circle value have upper limits on numerical values, when the upper limit of the multi-circle value is exceeded, the multi-circle value overflows and is calculated again from 1, and the absolute position of the motor obtained by the encoder is inaccurate at the moment.
Disclosure of Invention
The invention aims to provide a multi-turn calculating device and a multi-turn calculating method, which can solve the problem of multi-turn overflow and accurately record the absolute position of a motor.
To solve the above technical problem, an embodiment of the present invention provides a multi-turn resolver, including: the encoder is used for connecting a motor and acquiring the current multi-turn value of the motor; and the controller is connected with the encoder and is used for acquiring the current multi-turn value, counting the overflow times when the current multi-turn value reaches a preset multi-turn upper limit value, and determining the current actual multi-turn value of the motor according to the current multi-turn value, the preset multi-turn upper limit value and the overflow times.
In addition, still include: a memory connected to the controller; the controller is used for writing the overflow times into the memory and reading the overflow times from the memory.
In addition, the memory is an electrically erasable programmable read only memory.
In addition, the controller includes: the FPGA is connected with the encoder, and the CPU is connected with the FPGA and the memory; the FPGA is used for acquiring the current multi-turn value of the encoder and sending the current multi-turn value to the CPU; and the CPU is used for counting the overflow times when the current multi-turn value reaches the preset multi-turn upper limit value, and writing the overflow times into the memory.
In addition, the CPU is also used for receiving an actual multi-turn value acquisition request and triggering the FPGA to acquire the current multi-turn value of the encoder; the FPGA is used for responding to the actual multi-turn value obtaining request, reading the overflow times from the memory and determining the current actual multi-turn value according to the overflow times and the current multi-turn value.
In addition, the CPU is also used for receiving a motor position query request and triggering the FPGA to acquire the current single-turn value and the current multi-turn value of the encoder; and the FPGA is used for responding to the motor position inquiry request, reading the overflow times from the memory, and determining the actual angular position of the motor according to the current single-turn value, the current multi-turn value, the preset multi-turn upper limit value and the overflow times.
In addition, still include: a battery connected to the encoder; the battery is used for supplying power to the encoder when the power supply of the encoder is powered off.
In addition, the controller is further configured to acquire a current multi-turn value of the encoder and store the current multi-turn value when the encoder is detected to be powered off.
The embodiment of the invention also provides a multi-turn calculating method, which comprises the following steps: acquiring a current multi-turn value of the motor; counting the overflow times when the current multi-turn value reaches a preset multi-turn upper limit value; and determining the current actual multi-turn value of the motor according to the current multi-turn value, the preset multi-turn upper limit value and the overflow times.
In addition, after the counting of the number of overflows when the current multi-turn value reaches the preset multi-turn upper limit value, the method further includes: receiving a motor position query request; responding to the motor speed inquiry request to acquire a current single-turn value of the motor; and determining the actual angular position of the motor according to the current single-turn value, the current multi-turn value, the preset multi-turn upper limit value and the overflow times.
Compared with the related art, the embodiment of the invention provides a multi-turn calculating device, which comprises: the encoder is used for connecting the motor and acquiring the current multi-turn value of the motor; and the controller is connected with the encoder and used for acquiring the current multi-turn value, counting the overflow times when the current multi-turn value reaches the preset multi-turn upper limit value, and determining the current actual multi-turn value of the motor according to the current multi-turn value, the preset multi-turn upper limit value and the overflow times. According to the invention, a controller connected with an encoder records the overflow times when the multi-turn value of the encoder reaches a preset multi-turn upper limit value, so as to jointly determine the current actual multi-turn value according to the current multi-turn value, the preset multi-turn upper limit value and the overflow times, and solve the problem of multi-turn value overflow; and taking the overflow times of the multi-turn value into consideration to obtain the current actual multi-turn value, so that the absolute position of the motor can be accurately obtained according to the current actual multi-turn value.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
FIG. 1 is a schematic structural diagram of a multi-turn solver according to a first embodiment of the invention;
FIG. 2 is another schematic structural view of a multi-turn solver according to the first embodiment of the invention;
FIG. 3 is a schematic view of yet another construction of the multi-turn solver according to the first embodiment of the invention;
fig. 4 is a schematic flow diagram of a multi-turn solver according to a second embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present application in various embodiments of the present invention. However, the technical solution claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments.
By single-turn and multi-turn encoders are meant encoders that sense the current angular position at any time, particularly at the time of the first power-up. A single-turn encoder can only sense angular position within one turn; the multi-turn encoder can sense not only the angular position within one turn, but also how many turns the encoder has rotated since the date of use. In other words, it is: a second (without clock and minute) of a single-turn encoder, which appears to be a clock, can directly display the current angular position, but cannot add up. The multi-circle value encoder is just like a complete clock, has a clock and a minute, can directly display the current angular position and can also see the accumulated amount.
The inventor finds that the existing single-turn value and multi-turn value have upper limits in numerical values, such as: the single-turn upper limit value is 8388608(23bit), the multi-turn upper limit value is 65536(16bit), the multi-turn value is added with 1 when the motor rotates to the multi-turn upper limit value in one direction continuously, the multi-turn value overflows and starts counting from 1 again, and the angular position of the motor calculated according to the single-turn value and the multi-turn value recorded by the Encoder Encoder is not an absolute position, so a method is needed for recording the absolute position when the motor rotates in the same direction infinitely.
In view of the above, a first embodiment of the present invention relates to a multi-turn resolver, and the core of the present embodiment is to include: the encoder is used for connecting the motor and acquiring the current multi-turn value of the motor; and the controller is connected with the encoder and used for acquiring the current multi-turn value, counting the overflow times when the current multi-turn value reaches the preset multi-turn upper limit value, and determining the current actual multi-turn value of the motor according to the current multi-turn value, the preset multi-turn upper limit value and the overflow times.
According to the invention, a controller connected with an encoder records the overflow times when the multi-turn value of the encoder reaches a preset multi-turn upper limit value, so as to jointly determine the current actual multi-turn value according to the current multi-turn value, the preset multi-turn upper limit value and the overflow times, and solve the problem of multi-turn value overflow; and taking the overflow times of the multi-turn value into consideration to obtain the current actual multi-turn value, so that the absolute position of the motor can be accurately obtained according to the current actual multi-turn value.
The following describes the implementation details of the multi-turn resolver of the present embodiment in detail, and the following is provided only for the convenience of understanding and is not necessary for implementing the present embodiment.
The schematic structural diagram of the multi-turn resolver in the present embodiment is shown in fig. 1:
specifically, the Encoder is an absolute multi-turn Encoder and is used for connecting with a Motor, and generally, the Encoder is sleeved at the tail of the Motor and is used for acquiring a single-turn value and a multi-turn value of the Motor. The controller is connected with the Encoder and used for acquiring a multi-turn value of the Motor from the Encoder, counting the overflow times when the current multi-turn value reaches a preset multi-turn upper limit value, determining the current actual multi-turn value of the Motor according to the current multi-turn value, the preset multi-turn upper limit value and the overflow times, and solving the problem of multi-turn value overflow; and taking the overflow times of the multi-turn value into consideration to obtain the current actual multi-turn value, so that the absolute position of the Motor can be accurately obtained according to the current actual multi-turn value. And the current actual multi-turn value is equal to a preset multi-turn upper limit value, namely the overflow times + the current multi-turn value.
Further, the multi-turn solver further comprises: a memory connected to the controller; the controller is used for writing the overflow times into the memory and reading the overflow times from the memory. In the embodiment, the memory connected with the controller is arranged, and the overflow times are written into the memory for storage, so that the problem that the obtained multi-turn value is inaccurate due to the fact that the overflow times are lost when the controller and the Encoder Encoder are powered off is solved.
The memory may be implemented as an electrically erasable programmable read only memory. An Electrically Erasable Programmable Read-Only Memory (EEPROM) is a Memory chip with no data loss after power is lost, and existing information can be erased on a computer or special equipment, reprogrammed, and can be plugged and used.
Further, the controller includes: the FPGA is connected with the Encoder Encoder, and the CPU is connected with the FPGA and the memory; the FPGA is used for acquiring the current multi-turn value of the Encoder Encoder and sending the current multi-turn value to the CPU; and the CPU is used for counting the overflow times when the current multi-turn value reaches the preset multi-turn upper limit value and writing the overflow times into the memory.
Specifically, as shown in fig. 1, an Encoder is installed in the tail of the Motor, the Encoder is sleeved on the tail of the Motor, the Encoder is an internal principle of the Encoder in fig. 1, and a schematic diagram of an Encoder chip is indicated by a dashed curve in fig. 1, wherein the Encoder is driven by 5.2V dc (1VCC, 2 GND). The single-circle value and the multi-circle value of the Encoder Encoder are transmitted to the FPGA through differential signals (3S + differential signal positive, 5S-differential signal negative); after receiving the differential signal, the FPGA processes the differential signal and transmits the processed differential signal to the CPU so as to reduce the calculation processing burden of the CPU; the CPU saves the multi-turn value and the multi-turn overflow value into a memory EEPROM through an infinite rotation solution, and the CPU can read and write the memory EEPROM.
The differential transmission is a signal transmission technology, and is different from the traditional method of one signal wire and one ground wire, wherein the differential transmission transmits signals on the two wires, and the two signals have the same amplitude and opposite phases. The signals transmitted on these two wires are differential signals. The signal receiving end compares the difference value of the two voltages to judge the logic state sent by the sending end. On a circuit board, the differential traces must be two lines that are equal in length, equal in width, closely adjacent, and on the same plane.
In some embodiments, the FPGA is configured to obtain a current multi-turn value of the Encoder Encoder, and send the current multi-turn value to the CPU; and the CPU is used for counting the overflow times when the current multi-turn value reaches the preset multi-turn upper limit value and writing the overflow times into the memory.
As shown in fig. 2, in some embodiments, the multi-turn solver further comprises: the instruction receiving module is connected with the CPU; the instruction receiving module is used for receiving an actual multi-turn value acquisition request input by a user and sending the actual multi-turn value acquisition request to the CPU; the CPU is also used for receiving an actual multi-turn value acquisition request and triggering the FPGA to acquire the current multi-turn value of the Encoder Encoder; the FPGA is used for responding to the actual multi-turn value acquisition request, reading the overflow times from the memory and determining the current actual multi-turn value according to the overflow times and the current multi-turn value. Therefore, the staff can send the operation instruction to the CPU by using the instruction receiving module and the operation instruction is executed by the CPU.
Realisably, as shown in fig. 2, the multi-turn solver further comprises: a display module connected with the CPU; the CPU is used for acquiring the current actual multi-turn value of the motor from the FPGA and sending the absolute position to the display module; the display module is used for displaying the current actual multi-turn value of the motor. Therefore, the current actual multi-turn value of the motor can be directly and visually seen by a worker on the display module.
As shown in fig. 2, in some embodiments, the multi-turn solver further comprises: the instruction receiving module is connected with the CPU; the instruction receiving module is used for receiving a motor position query request input by a user and sending the motor position query request to the CPU; the CPU is also used for receiving a Motor position query request and triggering the FPGA to acquire a current single-turn value and a current multi-turn value of the Encoder Encoder; the FPGA is used for responding to a Motor position query request, reading the overflow times from the memory, and determining the absolute position of the Motor according to the current single-circle value, the current multi-circle value, the preset multi-circle upper limit value and the overflow times. Therefore, the staff can send the motor position query request to the CPU by using the instruction receiving module and the motor position query request is executed by the CPU.
Realisably, as shown in fig. 2, the multi-turn solver further comprises: a display module connected with the CPU; the CPU is used for acquiring the absolute position of the motor from the FPGA and sending the absolute position to the display module; the display module is used for displaying the absolute position of the motor. Thus, the staff can directly and visually see the absolute position of the motor on the display module.
In this embodiment, the current single-turn value is used to determine the current speed of the Motor, the current single-turn value and the current actual multi-turn value are used to determine the absolute position of the Motor, and the specific calculation modes of the current speed and the absolute position of the Motor are not repeated in this embodiment.
Preferably, the method further comprises the following steps: the Battery is connected with the Encoder Encoder; the Battery is used for supplying power to the Encoder Encode when the power supply of the Encoder Encode is powered off. In this embodiment, if the Encoder needs to supply power (4BAT +, 6BAT-) by an external Battery if the multi-turn value is stored, and for a scheme that does not transmit a single-turn value, a multi-turn value and an overflow frequency in real time, if there is no Battery BAT, the current actual multi-turn value cannot be obtained after power failure, and therefore, the Encoder needs to supply power to the external Battery of the Encoder in order to still obtain the current actual multi-turn value after power failure.
Preferably, the controller is further configured to acquire a current multi-turn value of the Encoder when it is detected that the Encoder is powered off, and store the current multi-turn value. In this embodiment, the controller acquires the current multi-turn value of the Encoder when detecting that the Encoder is powered off, and stores the current multi-turn value in the memory, thereby ensuring that the absolute position of the Motor can be directly obtained according to the multi-turn value in the memory, the overflow times and the single-turn value of the Encoder when the controller is powered on next time.
Furthermore, a plurality of encoders are arranged, and each Encoder is connected with a Motor respectively; the controller is connected with a plurality of encoders and is used for acquiring the current actual multi-turn value of each Motor.
As shown in fig. 3, the multi-turn resolver includes an Encoder encor 1 and an Encoder encor 2, wherein the encor 1 is connected to the Motor1, the encor 2 is connected to the Motor2, and both the encor 1 and the encor 2 are connected to the FPGA. In practical application, the number of the encoders and the motors should not be limited to that shown in fig. 3, and can be set according to practical requirements. In the scheme, one controller realizes the acquisition of the current actual multi-turn values of a plurality of Motor motors, and the controller is also used for acquiring the absolute positions of the plurality of Motor motors.
Further, the instruction receiving module is used for receiving actual multi-turn value acquisition requests of the Motor motors and/or position query requests of the Motor motors. The display module is used for receiving and displaying the current actual multi-turn values of the Motor motors and/or the absolute positions of the Motor motors.
Compared with the prior art, the embodiment of the invention provides a multi-turn calculating device, wherein a controller connected with an Encoder Encoder records the overflow times when the multi-turn value of the Encoder Encoder reaches the preset multi-turn upper limit value, so as to jointly determine the current actual multi-turn value according to the current multi-turn value, the preset multi-turn upper limit value and the overflow times, and solve the problem of multi-turn value overflow; and taking the overflow times of the multi-turn value into consideration to obtain the current actual multi-turn value, so that the absolute position of the Motor can be accurately obtained according to the current actual multi-turn value.
A second embodiment of the present invention relates to a multi-turn calculation method, and a flow chart of the multi-turn calculation method in this embodiment is shown in fig. 4, and specifically includes:
step 101: and acquiring the current multi-turn value of the motor.
Step 102: and counting the overflow times when the current multi-turn value reaches the preset multi-turn upper limit value.
Step 103: and determining the current actual multi-turn value of the motor according to the current multi-turn value, the preset multi-turn upper limit value and the overflow times.
Specifically, in the foregoing step 101 and step 103, the encoder is used to obtain the current multi-turn value of the motor, count the number of overflows when the current multi-turn value reaches the preset multi-turn upper limit value, and determine the current actual multi-turn value of the motor according to the current multi-turn value, the preset multi-turn upper limit value, and the number of overflows, so as to solve the problem of multi-turn value overflow; and taking the overflow times of the multi-turn value into consideration to obtain the current actual multi-turn value, so that the absolute position of the motor can be accurately obtained according to the current actual multi-turn value. And the current actual multi-turn value is equal to a preset multi-turn upper limit value, namely the overflow times + the current multi-turn value.
In practical application, an infinite rotation mode is set, and when the infinite rotation mode is opened, the obtained multi-turn value is an actual multi-turn value considering the overflow times; when the infinite rotation mode is turned off, the resulting multi-turn value is a multi-turn value that does not take into account the number of overflows.
When the infinite rotation mode is opened, the read current multi-circle value is backed up and written into a memory, the overflow times of the multi-circle value are calculated, the preset multi-circle upper limit value is set for judgment, an alarm is set, and when the preset multi-circle upper limit value is reached, the overflow times are added by 1. And triggering the multi-circle overflow flag bit every time the multi-circle overflow occurs, writing the overflow times into the memory every time the multi-circle overflow flag bit is triggered, and writing the multi-circle backup value into the memory. When the infinite rotation mode is not on, the overflow number is written into the memory, and the backup value of the plurality of turns is written into the memory.
Further, after counting the number of overflows when the current multi-turn value reaches the preset multi-turn upper limit value, the method further comprises the following steps: receiving a motor position query request; responding to a motor speed inquiry request to acquire a current single-circle value of the motor; and determining the absolute position of the motor according to the current single-circle value, the current multi-circle value, the preset multi-circle upper limit value and the overflow times.
Compared with the prior art, the embodiment of the invention provides a multi-turn calculating method, which is characterized in that the current actual multi-turn value is determined together according to the current multi-turn value, the preset multi-turn upper limit value and the overflow frequency, so that the problem of multi-turn value overflow is solved; and taking the overflow times of the multi-turn value into consideration to obtain the current actual multi-turn value, so that the absolute position of the motor can be accurately obtained according to the current actual multi-turn value.
The steps of the above methods are divided for clarity, and the implementation may be combined into one step or split some steps, and the steps are divided into multiple steps, so long as the same logical relationship is included, which are all within the protection scope of the present patent; it is within the scope of the patent to add insignificant modifications to the algorithms or processes or to introduce insignificant design changes to the core design without changing the algorithms or processes.
It is to be understood that this embodiment is a method embodiment related to the first embodiment, and that this embodiment can be implemented in cooperation with the first embodiment. The related technical details mentioned in the first embodiment are still valid in this embodiment, and are not described herein again in order to reduce repetition. Accordingly, the related-art details mentioned in the present embodiment can also be applied to the first embodiment.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.
Claims (10)
1. A multi-turn resolver, comprising:
the encoder is used for connecting a motor and acquiring the current multi-turn value of the motor;
and the controller is connected with the encoder and is used for acquiring the current multi-turn value, counting the overflow times when the current multi-turn value reaches a preset multi-turn upper limit value, and determining the current actual multi-turn value of the motor according to the current multi-turn value, the preset multi-turn upper limit value and the overflow times.
2. The multi-turn solver of claim 1, further comprising: a memory connected to the controller;
the controller is used for writing the overflow times into the memory and reading the overflow times from the memory.
3. The multi-turn solver of claim 2, wherein the memory is an electrically erasable programmable read-only memory.
4. A multi-turn resolver according to claim 2, wherein the controller comprises: the FPGA is connected with the encoder, and the CPU is connected with the FPGA and the memory;
the FPGA is used for acquiring the current multi-turn value of the encoder and sending the current multi-turn value to the CPU;
and the CPU is used for counting the overflow times when the current multi-turn value reaches the preset multi-turn upper limit value, and writing the overflow times into the memory.
5. The multi-turn solver of claim 4, wherein the CPU is further configured to receive an actual multi-turn value acquisition request and to trigger the FPGA to acquire a current multi-turn value of the encoder;
the FPGA is used for responding to the actual multi-turn value obtaining request, reading the overflow times from the memory and determining the current actual multi-turn value according to the overflow times and the current multi-turn value.
6. The multi-turn resolver of claim 4, wherein the CPU is further configured to receive a motor position query request, and trigger the FPGA to obtain a current single-turn value and a current multi-turn value of the encoder;
and the FPGA is used for responding to the motor position query request, reading the overflow times from the memory, and determining the absolute position of the motor according to the current single-circle value, the current multi-circle value, the preset multi-circle upper limit value and the overflow times.
7. The multi-turn solver of claim 1, further comprising: a battery connected to the encoder;
the battery is used for supplying power to the encoder when the power supply of the encoder is powered off.
8. The multi-turn resolver of claim 7, wherein the controller is further configured to obtain a current multi-turn value of the encoder upon detection of a power outage to the encoder, and store the current multi-turn value.
9. A multi-turn solution method, comprising:
acquiring a current multi-turn value of the motor;
counting the overflow times when the current multi-turn value reaches a preset multi-turn upper limit value;
and determining the current actual multi-turn value of the motor according to the current multi-turn value, the preset multi-turn upper limit value and the overflow times.
10. The multi-turn solution method according to claim 9, further comprising, after said counting the number of overflows for which the current multi-turn value reaches a preset multi-turn upper limit value:
receiving a motor position query request;
responding to the motor speed inquiry request to acquire a current single-turn value of the motor;
and determining the absolute position of the motor according to the current single-turn value, the current multi-turn value, the preset multi-turn upper limit value and the overflow times.
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| CN114061627A (en) * | 2021-11-01 | 2022-02-18 | 之江实验室 | Electronic multi-turn absolute value encoder system, device and working method |
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| CN114061627A (en) * | 2021-11-01 | 2022-02-18 | 之江实验室 | Electronic multi-turn absolute value encoder system, device and working method |
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