CN112945283A - Method, device and system for decoding turn number of absolute encoder - Google Patents
Method, device and system for decoding turn number of absolute encoder Download PDFInfo
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- G01D5/32—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 characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
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Abstract
The invention discloses a circle number decoding method of an absolute encoder, which comprises the following steps: when the main power supply normally supplies power to the main coding assembly and the standby coding assembly, a first circle value and a second circle value are respectively obtained through standby coding signals output by the main coding assembly and the standby coding assembly; when the main power supply is powered off and the standby power supply supplies power to the standby coding assembly, a second circle value is obtained through the standby coding assembly; and when the main power supply is powered on again after being powered off, determining a turn number correction value according to the current single-turn position and the code channel zero position deviation at the current moment, and outputting the corrected current second turn number value as the current turn number value. The utility model provides a to be equipped with the encoder subassembly and obtain the number of turns value correction for unanimous with the number of turns value that main encoder confirmed in this application, avoid the unexpected outage of main power supply to lead to the unsafe problem of number of turns value in the absolute position, improve absolute encoder's measurement accuracy. The application also provides a circle number decoding device and a system of the absolute encoder, and the absolute encoder has the beneficial effects.
Description
Technical Field
The invention relates to the technical field of encoder measurement, in particular to a method, a device and a system for decoding the turn number of an absolute encoder.
Background
The encoder is divided into absolute value type and incremental type, and in high-precision mechanical equipment or heavy industrial industries such as steel, harbors and cranes, the absolute encoder is used under more conditions due to relatively high requirement on the precision of measurement. In these heavy industry applications.
The coding assembly of the absolute encoder mainly comprises a coded disc fixedly connected with a rotating shaft, a code channel arranged on the coded disc, an induction device for inducing the coded disc to rotate and a power supply device for supplying power to the induction device; when the absolute encoder works in a measuring mode, the sensing device senses the change of a code channel on the code disc and outputs a corresponding encoding signal, and the encoding signal can be decoded to obtain the rotating single-circle position and multi-circle numerical value of the rotating shaft of the encoder. However, in practical applications, if the power supply device is powered off accidentally, if the number of rotation turns of the rotating shaft is more than one turn in the power-off process, it is obvious that the number of rotation turns in the power-off time period cannot be determined even if the power supply device is powered on again, which results in inaccurate absolute position data output by the absolute encoder.
In order to avoid that the absolute encoder cannot detect the number of rotation turns in the power-off process of the power supply equipment, a group of standby encoding components with low power consumption can be added in the absolute encoder, and power is supplied to the absolute encoder through a standby battery when the power supply equipment is powered off, and the number of rotation turns in the power-off process of the power supply equipment is detected by utilizing the standby encoding components; however, the current mode for detecting the number of rotation turns has the problem of low precision and does not meet the high-precision requirement of an absolute encoder on absolute position detection.
Disclosure of Invention
The invention aims to provide a method, a device and a system for decoding the turn number of an absolute encoder, which improve the measurement accuracy of the absolute encoder to a certain extent.
To solve the above technical problem, the present invention provides a method for decoding turns of an absolute encoder, comprising:
when the main power supply supplies power to the main coding assembly and the standby coding assembly normally, acquiring a main coding signal output by the main coding assembly and a standby coding signal output by the standby coding assembly;
performing decoding operation on the main coding signal to obtain and output an absolute position comprising a first circle value and a single circle position; decoding operation is carried out on the standby coding signal, and a second circle value is obtained and recorded;
when the main power supply is powered off and the standby power supply supplies power to the standby coding assembly, acquiring a standby coding signal output by the standby coding assembly and acquiring a second circle value;
and when the main power supply is powered on again after being powered off, determining a turn number correction value according to the current single-turn position and the code channel zero position deviation of the current moment, correcting a current second turn number value according to the turn number correction value, and outputting the corrected current second turn number value as a current turn number value, wherein the code channel zero position deviation is the zero position deviation between a code disc of the main coding assembly and a code disc of the standby coding assembly.
Optionally, determining a lap correction value according to the current single-lap position and the code track zero position deviation at the current time includes:
when the current single-turn position and the starting base point are both located in a first interval or a second interval, the turn number correction value is 0;
if the rotating shaft of the absolute encoder rotates, a first code track zero point of the main encoding assembly lags behind a second code track zero point of the standby encoding assembly, and when the current single-turn position and the starting base point are respectively located in different intervals of the first interval and the second interval, the turn correction value is-1;
if the second code track zero point of the standby coding assembly lags behind the first code track zero point of the main coding assembly when the rotating shaft of the absolute encoder rotates, when the current single-turn position and the starting base point are respectively positioned in different intervals of the first interval and the second interval, the turn correction value is 1;
the starting base point is a starting angle position point when the absolute encoder starts to work for the first time; the first interval is an acute angle interval between the first code channel zero point and the second code channel zero point; the second interval is an angle position interval outside the first interval of one circle of the coded disc.
Optionally, the process of determining whether the current single-turn position is located in the first interval includes:
decoding according to the current main coding signal output by the main coding component to obtain a first current single-turn position;
determining a first current quadrant interval in which the first current turn number position is located according to four quadrant intervals which are divided into a code disc of the main coding assembly in advance;
determining a second current quadrant interval where a second current turn number position corresponding to the current standby coding signal is located according to the current standby coding signal output by the standby coding assembly and four quadrant intervals which are divided by a code disc of the standby coding assembly in advance;
if one current quadrant interval of the first current quadrant interval and the second current quadrant interval is a first quadrant interval, and the other current quadrant interval is a fourth quadrant interval, the current single-turn position is located in the first interval;
the four quadrant intervals of the code disc of the main coding assembly and the code disc of the standby coding assembly are divided by respectively and sequentially dividing a first quadrant interval, a second quadrant interval, a third quadrant interval and a fourth quadrant interval along the rotation direction of the code disc by taking the respective code channel zero position of the two code discs as a starting point and taking every 90-degree interval as one quadrant interval.
Optionally, the process of determining a second current quadrant interval in which the second current turn position corresponding to the current encoding signal is located includes:
determining the second current quadrant interval according to the magnitudes of two groups of orthogonal square wave signals output by the two Hall sensors of the standby coding assembly in a manner of sensing the magnetic field change of the magnetic steel rotating along with the rotating shaft;
the two groups of orthogonal square wave signals are high-level signals with one-half period, low-level signals with one-half period, and the phase difference of the two groups of orthogonal square wave signals is 90 degrees.
A turn number decoding apparatus of an absolute encoder, comprising:
the data acquisition module is used for acquiring a main coding signal output by the main coding assembly and a standby coding signal output by the standby coding assembly when a main power supply normally supplies power to the main coding assembly and the standby coding assembly;
the first operation module is used for carrying out decoding operation on the main coding signal to obtain and output an absolute position comprising a first circle numerical value and a single circle position; decoding operation is carried out on the standby coding signal, and a second circle value is obtained and recorded;
the second operation module is used for acquiring a standby coding signal output by the standby coding component and acquiring a second circle value when the main power supply is powered off and a standby power supply supplies power to the standby coding component;
and the third operation module is used for determining a turn number correction value according to the current single-turn position and the zero position deviation of the code channel at the current moment when the main power supply is powered on again after being powered off, correcting a current second turn number value according to the turn number correction value and outputting the corrected current second turn number value as the current turn number value, wherein the zero position deviation of the code channel is the zero position deviation between the code disc of the main coding assembly and the code disc of the standby coding assembly.
Optionally, the third operation module includes:
the first correction unit is used for setting the correction value of the number of turns to be 0 when the current single-turn position and the starting base point are both positioned in a first interval or a second interval;
if a first code track zero point of the main coding assembly lags behind a second code track zero point of the standby coding assembly when a rotating shaft of the absolute encoder rotates, the second correction unit determines that the correction value of the number of turns is-1 when the current single-turn position and the starting base point are respectively located in different sections of the first section and the second section;
a third correction unit, configured to, if a second track zero point of the standby coding assembly lags behind a first track zero point of the main coding assembly when the rotating shaft of the absolute encoder rotates, determine that the number-of-turns correction value is 1 when the current single-turn position and the starting base point are located in different two intervals, namely the first interval and the second interval, respectively;
the starting base point is a starting angle position point when the absolute encoder starts to work for the first time; the first interval is an acute angle interval between the first code channel zero point and the second code channel zero point; the second interval is an angle position interval outside the first interval of one circle of the coded disc.
Optionally, the third operation module includes:
the first quadrant positioning unit is used for decoding a current main coding signal output by the main coding assembly to obtain a first current single-turn position; determining a first current quadrant interval in which the first current turn number position is located according to four quadrant intervals which are divided into a code disc of the main coding assembly in advance;
the second quadrant positioning unit is used for determining a second current quadrant interval where a second current turn number position corresponding to the current standby coding signal is located according to the current standby coding signal output by the standby coding assembly and four quadrant intervals which are divided by a code disc of the standby coding assembly in advance;
a single-turn interval positioning unit, configured to locate the current single turn position in the first interval if one of the first current quadrant interval and the second current quadrant interval is a first quadrant interval, and the other current quadrant interval is a fourth quadrant interval;
the four quadrant intervals of the coded disc of the main coding assembly and the coded disc of the standby coding assembly are divided by respectively and sequentially dividing a first quadrant interval, a second quadrant interval, a third quadrant interval and a fourth quadrant interval by taking the respective zero positions of the two coded discs as starting points and taking every 90-degree interval of the rotating direction of the coded discs as a quadrant interval.
A circle number decoding system of an absolute encoder comprises a main encoding component, a standby encoding component, a main power supply, a standby power supply and an MCU chip; the standby coding component is a coding component which consumes less energy and has lower precision than the main coding component;
the main power supply is used for supplying power to the main coding assembly and the standby coding assembly;
the standby power supply is used for supplying power to the standby coding component when the main power supply is powered off;
the MCU chip is used for executing the steps of realizing the loop number decoding method of the absolute encoder.
Optionally, the main encoding component is a first photoelectric encoding component; the encoding component is a magnetic encoding component; the encoding component comprises magnetic steel fixedly connected with a rotating shaft of the absolute encoder and a magnetic field sensor arranged on the periphery of the magnetic steel.
Optionally, the magnetic field sensor includes two hall sensors orthogonally disposed at an outer peripheral portion of the magnetic steel.
The invention provides a method for decoding the number of turns of an absolute encoder, which comprises the following steps: when the main power supply supplies power to the main coding assembly and the standby coding assembly normally, acquiring a main coding signal output by the main coding assembly and a standby coding signal output by the standby coding assembly; performing decoding operation on the main coding signal to obtain and output an absolute position comprising a first circle value and a single circle position; decoding operation is carried out on the standby coding signal, and a second circle value is obtained and recorded; when the main power supply is powered off and the standby power supply supplies power to the standby coding assembly, acquiring a standby coding signal output by the standby coding assembly and acquiring a second circle value; and when the main power supply is powered on again after being powered off, determining a turn number correction value according to the current single-turn position and the code channel zero-point position deviation of the current moment, correcting a current second turn number value according to the turn number correction value, and outputting the corrected current second turn number value as a current turn number value, wherein the code channel zero-point deviation is the zero-point position deviation between a code disc of the main coding assembly and a code disc of the standby coding assembly.
In the application, the difference of code channel zero points of the main coding assembly and the standby coding assembly is considered, so that the number of turns obtained by the standby coding assembly is not consistent with the number of turns of the standby coding assembly. Therefore, when the main power supply can normally supply power, the main coding assembly and the standby coding assembly independently accumulate the number of rotation turns, when the power is cut off, the number of turns correction value of the number of turns obtained by the standby coding assembly is determined according to the single-turn position information at the power-on moment and the zero point difference of the two coding assemblies, the number of turns obtained by the standby coding assembly is corrected to be consistent with the number of turns determined by the main coder, more accurate number of turns in absolute position information is obtained, the problem that the number of turns in the absolute position is inaccurate due to accidental power failure of the main power supply is avoided, and the measurement precision of the absolute coder is improved.
The application also provides a circle number decoding device and a system of the absolute encoder, and the absolute encoder has the beneficial effects.
Drawings
In order to more clearly illustrate the embodiments or technical solutions of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
Fig. 1 is a schematic flowchart of a method for decoding turns of an absolute encoder according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram illustrating relative positions of a main encoding assembly and an encoding disk provided by an embodiment of the present application;
FIG. 3 is a schematic structural diagram of a magnetic encoding assembly according to an embodiment of the present application;
FIG. 4 is a schematic diagram of the sensing signals output by the two Hall sensors in FIG. 3;
fig. 5 is a block diagram of a lap decoding apparatus of an absolute encoder according to an embodiment of the present invention.
Detailed Description
In the practical application of the absolute encoder, when a main power supply supplies power to a sensing part sensing and reading coded signals in the encoder, power failure inevitably occurs due to various unexpected conditions, and then the number of rotation turns of a rotating shaft of the encoder in a reading power failure time period cannot be detected.
For this purpose, a backup power supply can be provided in the absolute encoder in a redundant manner, which supplies power when the main power supply is switched off. However, limited installation space, the size of the backup power supply is generally very small, and accordingly, the amount of power that the backup power supply can supply is very limited. In order to reduce the power consumption of the standby power supply as much as possible, a group of encoding components can be further added in the encoder in a redundant manner, and it can be understood that the power consumption of the encoding components is smaller than that of the original encoding components in the absolute encoder, so that the standby power supply can only supply power to the newly added encoding components in the process that the main power supply cannot normally supply power, and the detection of the rotation angle is realized during the power-off period of the main power supply through the newly added encoding components. And when the main power supply is supplied again, the original coding assembly is reused for detecting the rotation angle on the basis of the rotation angle detected by the main power supply breaker.
However, two different encoding assemblies are arranged in the same encoder, the code discs of the two encoding assemblies need to be fixedly connected with the rotating shaft, and the zero points of the code channels of the two encoding assemblies are often difficult to align, that is, the code discs in the two encoding assemblies rotate synchronously but the rotation angle positions obtained by detection are inconsistent, so that after the main power supply is powered on again, the rotation number of the original encoding assembly code disc in the power-off time period of the main power supply is determined according to the rotation number measured by the newly added encoding assembly.
Therefore, the technical scheme that the two groups of coding assemblies can be misaligned at the zero point of the code channel and the consistency of the detected absolute positions is realized is provided.
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic flow chart of a method for decoding turns of an absolute encoder according to an embodiment of the present disclosure, and fig. 2 is a schematic diagram of relative positions of a main encoding assembly and a coded encoding disc according to an embodiment of the present disclosure. The method for decoding the turn number of the absolute encoder mainly comprises a main encoding component, a standby encoding component, a main power supply, a standby power supply and the like; wherein the standby coding component consumes less power than the main coding component. Of course, the device also includes an MCU chip for decoding the coded signal, and so on, which are not listed.
It can be understood that the main encoding component and the standby encoding component in this embodiment refer to a code wheel fixedly connected to the rotating shaft and capable of rotating along with the rotation of the rotating shaft, and an induction device for detecting the rotation of the code wheel, the induction device outputs an induced encoding signal by sensing and monitoring the rotation of the code wheel, and the encoding signal is collected by an MCU chip or the like to perform decoding operation on the encoding signal, so as to obtain the absolute position information of the current rotation of the rotating shaft. The absolute position information includes a single-turn position of the rotating shaft and a turn number of the rotation.
Taking a photoelectric coding assembly as a main coding assembly and a magnetic coding assembly as a standby coding assembly as an example, a reading head in the photoelectric coding assembly needs to comprise a light-emitting part and a photoelectric sensor, and a high-precision absolute position can be output based on an electric signal output by the photoelectric sensor. The induction component of the magnetic coding assembly only comprises the magnetic field sensor, so that light emission and power consumption are not needed, and energy consumption is lower; of course the absolute position accuracy obtained by decoding the magnetically encoded signal based on the output of the magnetic field sensor is lower.
The method for decoding the number of turns of the absolute encoder including the above components may include:
s11: when the main power supply normally supplies power to the main coding assembly and the standby coding assembly, a main coding signal output by the main coding assembly and a standby coding signal output by the standby coding assembly are collected.
It can be understood that the main encoding signal in this embodiment is also a signal output by the sensing component in the main encoding assembly sensing the rotation of the code wheel in the main encoding assembly; similarly, the encoding signal is the signal output by the sensing part in the encoding component sensing the rotation of the code wheel in the encoding component.
S12: performing decoding operation on the main coding signal to obtain and output an absolute position comprising a first circle value and a single circle position; and carrying out decoding operation on the standby coding signal to obtain and record a second circle value.
Decoding operation is carried out based on the main coding signal and the standby coding signal, so that a first circle value (accumulated rotating number) and a single circle position corresponding to the main coding signal and a second circle value corresponding to the standby coding signal can be obtained respectively. Of course, theoretically, the encoded signal can be decoded to obtain a set of single-turn position information. However, as described above, the encoding component consumes less energy, the detection accuracy is low, and the single-turn position information obtained by decoding is generally relatively low in accuracy. But the embodiment also mainly aims to determine and record the lap information obtained by decoding.
Referring to FIG. 2, in actual installation, the first code wheel of the main code assembly and the second code wheel of the standby code assembly should be coaxially mounted on a rotating shaft, forming exactly two concentric disks as shown in FIG. 2 from a top view. In FIG. 2, the zero point of the track of the first code wheel is the position of the straight line OA on the track of the first code wheel, and the zero point of the track of the second code wheel is the position of the straight line OE on the track of the second code wheel. The first code wheel and the second code wheel are relatively fixed, and the lines OA and OE are difficult to coincide from the perspective shown in fig. 2, but have an acute included angle m, for reasons of manufacturing process and material choice, among other things.
Then, taking the straight line OI as the straight line where the single-turn position exists, when the straight line OI rotates through the straight line OA, it is obvious that the number of turns determined based on the primary encoding signal is increased by 1, and when OI does not pass through the straight line OE yet, it is obvious that the number of turns determined by the secondary encoder signal is not increased by 1, and therefore, it is seen that there is a problem that the number of turns determined by the primary encoding component and the secondary encoding component are inconsistent.
However, under the condition of power supply of a main power supply, the main coding assembly can realize high-precision detection of a circle number value and a single circle position in an absolute position, so that a first circle number value measured by the main coding assembly is mainly used as a circle number value measured by an absolute encoder to be output; while the second lap values measured by the standby coding component are stored only as a record.
S13: when the main power supply is powered off and the standby power supply supplies power to the standby coding assembly, the standby coding signal output by the standby coding assembly is collected, and a second circle value is obtained.
When the main power supply is powered off, the standby power supply with smaller power supply capacity is adopted to only supply power to the standby coding assembly, the standby coding assembly is ensured to uninterruptedly sense the code disc to rotate and output a standby coding signal, and therefore a second circle value can be obtained through decoding of the standby coding signal; this second number of turns is of course obtained by adding the new number of turns on the basis of the second number of turns determined before the main power supply is switched off.
In the process of power failure of the main power supply, the main coding assembly cannot be powered on, and a coding signal cannot be output, so that the related information of the absolute position cannot be obtained.
S14: and when the main power supply is powered on again after being powered off, determining a turn number correction value according to the current single-turn position and the code channel zero-point position deviation of the current moment, correcting a current second turn number value according to the turn number correction value, and outputting the corrected current second turn number value as a current turn number value, wherein the code channel zero-point deviation is the zero-point position deviation between a code disc of the main coding assembly and a code disc of the standby coding assembly.
During the time period of the main power outage, the main coding assembly cannot output the coding signal, and after the main power outage, the main coding assembly can obtain the re-output main coding signal, but only the position of a single turn of re-electrification can be determined based on the main coding signal, and it cannot be known that a coded disc rotates several turns cumulatively during the time period of the main power outage. And the standby coding assembly continuously detects the rotation number of the code disc in the process. Then, when the main power supply is powered on again after being powered off, the number of turns which is consistent with the actual number of turns of the coded disc of the main coding assembly can be indirectly obtained based on the second number of turns corresponding to the standby coding assembly.
As mentioned above, the zero point of the code channel of the main encoding component and the zero point of the code channel of the standby encoding component are different, which causes the disparity between the accumulated statistics of the two turns values, and therefore, the second turn value corresponding to the standby encoding component cannot be directly output as the first turn value of the main encoding component. Therefore, in the present application, a corrected turn number of the second turn number relative to the correct first turn number is determined based on the difference between the current single-turn position information and the track zero, which can also be understood as a difference between the first turn number and the second turn number. After the second turn number value is corrected based on the correction turn number value, the second turn number value is consistent with a first turn number value actually accumulated when a coded disc of the main coding assembly rotates to the current single-turn position, and therefore the corrected second turn number value can be output as the turn number value in the absolute position.
In summary, the standby coding assembly is arranged in the absolute encoder, and the main coding assembly can continuously detect whether to work normally or not to obtain the number of turns of the rotating shaft, so that the number of turns obtained by the standby coding assembly can be used as the standby number of turns data of the main coding assembly, and when the main coding assembly cannot realize the number of turns detection accidentally, the number of turns in the absolute position can still be output; and still further consider the difference of two code track zero points in the activestandby coding subassembly and lead to the different problem of number of turns accumulation, and then when utilizing the number of turns value that the activestandby coding subassembly obtained, still rectify this number of turns value to realize the uniformity of the number of turns value that two coding subassemblies obtained, also can accurately detect the number of turns of rotation when realizing that the main coding subassembly is unavailable, improve absolute encoder's measurement accuracy.
The process of determining a lap correction value based on the current single-turn position and the track zero offset will be described in detail below in a specific embodiment.
In an optional embodiment of the present application, the process of determining the lap correction value according to the current single-lap position and the code channel zero position deviation at the current time may include:
when the current single-turn position and the starting base point are both located in the first interval or both located in the second interval, the turn number correction value is 0;
if the rotating shaft of the absolute encoder rotates, the first code track zero point of the main encoding assembly lags behind the second code track zero point of the standby encoding assembly, and when the current single-turn position and the starting base point are respectively positioned in different intervals of a first interval and a second interval, the correction value of the number of turns is-1;
if the second code track zero point of the standby coding assembly lags behind the first code track zero point of the main coding assembly when the rotating shaft of the absolute encoder rotates, the correction value of the number of turns is 1 when the current single-turn position and the starting base point are respectively positioned in different sections of a first section and a second section;
the starting base point is a starting angle position point when the absolute encoder starts to work for the first time; the first interval is an acute angle interval between the first code channel zero point and the second code channel zero point; the second interval is an angular position interval outside the first interval of one circle of the code wheel.
Referring to fig. 2, the starting base point referred to in this embodiment is the first single-turn position point of the absolute encoder after factory shipment, which starts to work to read position data. The starting base point may be any position point on the code disc, and is not particularly limited in this application. The first interval in this embodiment is a sector interval corresponding to the acute included angle m between OA and OE in fig. 2; and the second zone is also the sector zone on the code wheel except the first zone.
Taking the photoelectric coding assembly as an example, based on the basic principle that a code wheel rotates when an encoder works, the number of turns is increased by 1 every time the zero position of a code channel on the code wheel passes through a reading head. And the zero point positions of two coding assemblies in this application are not coincident, and the time of passing through the zero point position is also inconsistent, and then leads to the inconsistent number of turns value.
The difference of the two code discs counting the number of circles is related to the current single-circle position, namely the single-circle position read by the reading head and the starting base point.
As shown in fig. 2, if the starting base point and the current single-turn position are both located in the first interval or both located in the second interval. Obviously, whether the two code wheels rotate clockwise or counterclockwise, the two code track zero point rotations pass through the sensing part similarly, i.e. the same number of times. At this time, the number of turns detected by the two encoding assemblies, namely the main encoding assembly and the standby encoding assembly, is consistent, and the corresponding correction number of turns is also 0.
And when the initial base point and the current single-turn position are not located in the same interval, the times that the zero point of the code channel of the main coding assembly and the zero point of the code channel of the standby coding assembly pass through the induction component are different, and the obtained turn number values are also different.
Referring to FIG. 2, the counterclockwise rotation of the code wheel is taken as an example, in the case of OM1The angular position of the straight line is the starting base point, namely the starting base point is in the second area, obviously, in the process of rotating the code disc, because the code disc rotates anticlockwise, the angular position of the OE is read firstly and then the angular position of the OA is read, namely the first track zero point of the main coding assembly lags behind the second track zero point of the standby coding assembly, namely the number of turns of the standby coding assembly is accumulated by 1, and the main coding assembly is accumulated by 1 after the read single-turn position passes through the first track zero point. Obviously, if the current single-turn position is located in the first region, the second turn number value obtained by the standby coding module is obviously 1 more than the first turn number value of the main coding module. The value of the turn correction of the second turn value relative to the first turn value is therefore obviously equal to-1 at this point.
Similarly, when in OM2The angular position of the straight line is the starting point base point, namely the starting point base point is in the first area. If the first track zero point of the main coding assembly falls behind the second track zero point of the standby coding assembly, namely the code disc rotates clockwise, the sensing component detects the first track zero point after detecting the second track zero point and then sequentially passing through the angle positions of the second interval, and therefore if the current single-turn position is the angle position of the second interval, the sensing component does not detect the first track zero point. Obviously, the second value of turns obtained by the standby coding unit is still 1 more than the first value of turns obtained by the main coding unit. The value of the turn correction of the second turn value relative to the first turn value is therefore obviously equal to-1 at this point.
If with OM1The angular position of the straight line is the starting point, that is, the starting point is in the second area, taking the clockwise rotation of the code wheel as an example, obviouslyThe sensing component detects the zero position of the first code track after sequentially passing through the angle positions of the second interval, and then enters the first interval, and then detects the zero position of the second code track. If the current single-circle position is the angle position of the first interval, the sensing part does not monitor the second code channel zero point. Obviously, the second value of the turns obtained by the standby coding element is still less than 1 than the first value of the turns obtained by the main coding element. The value of the second turn is thus now clearly equal to 1 with respect to the value of the first turn.
Similarly, when in OM2The angular position of the straight line is the starting point base point, namely the starting point base point is in the first area. The second code track zero point of the standby coding assembly is behind the first code track zero point of the main coding assembly, namely, the code disc rotates anticlockwise. Obviously, the second value of the turns obtained by the standby coding element is still less than 1 than the first value of the turns obtained by the main coding element. The value of the second turn is thus now clearly equal to 1 with respect to the value of the first turn.
Therefore, in the practical application process, the corresponding correction value of the number of turns can be selected according to the current single-turn position and the interval position where the starting base point is located, and then the first turn value of the main coding assembly can be determined according to the second turn value obtained by the standby coding assembly.
Alternatively, as described above, it is necessary to determine whether the current single-turn position belongs to the first region or the second region when determining the correction turn value. To this end, in another optional embodiment of the present application, the process of determining the area to which the current single-turn position belongs may include:
s141: and decoding according to the current main coding signal output by the main coding component to obtain a first current single-turn position.
S142: and determining a first current quadrant interval in which a first current turn number position is located according to four quadrant intervals which are divided for a code disc of the main coding assembly in advance.
S143: and determining a second current quadrant interval in which a second current turn number position corresponding to the current standby coding signal is located according to the current standby coding signal output by the standby coding assembly and four quadrant intervals which are divided into a code disc of the standby coding assembly in advance.
S144: and if one current quadrant interval of the first current quadrant interval and the second current quadrant interval is the first quadrant interval, and the other current quadrant interval is the fourth quadrant interval, the current single-circle position is located in the first interval.
The four quadrant intervals of the code wheel of the main coding assembly and the code wheel of the standby coding assembly are divided into a first quadrant interval, a second quadrant interval, a third quadrant interval and a fourth quadrant interval in sequence along the rotation direction of the code wheel by taking the respective code channel zero position of the two code wheels as a starting point and taking every 90-degree interval as a quadrant interval.
As mentioned above, because the zero points of the code channels of the first and second code wheels are not aligned, it is obvious that the angular position data of the output single turn has a difference of m degrees when the main and standby code assemblies detect the same single turn position.
In addition, in general, the channel zero difference between the main coding component and the standby coding component is also difficult to detect accurately. For this reason, in the present embodiment, the code channels of the two code disks are divided into quadrant regions.
Referring to FIG. 2, the quadrant division of the first code wheel of the main encoding assembly and the second code wheel of the standby encoding assembly is illustrated by counterclockwise rotation of the code wheels. Every 90 degree interval is taken as a quadrant. Obviously, for the first code wheel there are: the first quadrant interval is an angle position interval between the arcs AB; the second quadrant interval is an angle position interval between arcs BC; the third quadrant interval is an angle position interval between the arcs CD; the fourth quadrant interval is the angular position interval between arcs DA.
For the second code wheel, there are: the first quadrant interval is an angle position interval between arcs EF; the second quadrant interval is an angle position interval between arcs FG; the third quadrant interval is an angle position interval between arcs GH; the fourth quadrant interval is the angular position interval between arcs HE.
Obviously, the first zone is a quadrant-fourth zone located at the first code wheel and a quadrant-first zone located at the second code wheel.
If the code wheels are rotated clockwise, the quadrant regions are divided according to the same principle as described above, and it is obvious that the first zone is located in the first quadrant region of the first code wheel and in the fourth quadrant region of the second code wheel.
That is, if the quadrant areas where the current single-turn position is located in the two code disks are the first quadrant area and the fourth quadrant area, it is indicated that the current single-turn position is located in the first section. Subsequently, whether the current single-turn position belongs to the first interval can be judged according to the position.
For this reason, in this embodiment, it is possible to directly determine which quadrant section of the first code wheel the current single-turn position is located in based on the first code signal, and determine which quadrant section of the second code wheel the current single-turn position is located in based on the second code signal, and it is possible to determine whether the current single-turn position is located in the first section by combining the two determined quadrant sections.
For the first coded signal, it is obvious that the decoding operation can obtain accurate angle position data, so that the quadrant interval of the first coded signal, which belongs to the first code disc, can be accurately defined. For the second encoded signal, the angular position data corresponding to the single-turn position can be decoded and obtained in general, but relatively speaking, the accuracy is lower, but since only the quadrant interval to which the second encoded signal belongs needs to be judged, even if the accuracy is lower, the judgment of the second encoded signal in the quadrant to which the second encoded signal belongs is not influenced in general.
In an optional embodiment of the present application, the process of determining a second current quadrant interval in which a second current turn position corresponding to the current encoding signal is located may include:
determining a second current quadrant interval according to the magnitude of two groups of orthogonal square wave signals output by the two Hall sensors of the encoding component by sensing the magnetic field change of the magnetic steel rotating along with the rotating shaft;
wherein, the two groups of orthogonal square wave signals are high level signals with half period, low level signals with half period, and the phase difference of the two groups of orthogonal square wave signals is 90 degrees.
Referring to fig. 3 and 4, fig. 3 is a schematic structural diagram of a magnetic encoding assembly according to an embodiment of the present application. Fig. 3 illustrates an example in which the encoding component is a magnetic encoding component, the magnetic encoding component may include a circular magnetic steel 1 disposed at the top of the rotating shaft, and the semicircular part has no N pole and the other semicircular part has no S pole, and further includes two hall sensors 2, the measuring directions of the two hall sensors 2 are perpendicular to each other, accordingly, as shown in fig. 4, fig. 4 is a schematic diagram of the sensing signals output by the two hall sensors in fig. 3.
Obviously, based on fig. 4, it can be seen that two output high and low level signals are different from each other corresponding to different quadrant intervals of the magnetic encoding component, and when the current position is located in the first quadrant region to the fourth quadrant region of the track of the magnetic encoder (i.e. the magnetic steel 1), the high and low level signals output by the two hall sensors 2 are (0, 0), (0, 1), (1, 1), and (1, 0), respectively.
In the following, the number-of-turns decoding apparatus of the absolute encoder according to the embodiments of the present invention is introduced, and the number-of-turns decoding apparatus of the absolute encoder described below and the number-of-turns decoding method of the absolute encoder described above can be referred to correspondingly.
Fig. 5 is a block diagram of a structure of a lap decoding apparatus of an absolute encoder according to an embodiment of the present invention, and the lap decoding apparatus of the absolute encoder in fig. 5 may include:
the absolute encoder comprises a main encoding component, a standby encoding component, a main power supply and a standby power supply; wherein the standby coding component consumes less energy than the main coding component; the lap number decoding device includes:
the data acquisition module 100 is used for acquiring a main coding signal output by the main coding component and a standby coding signal output by the standby coding component when the main power supply normally supplies power to the main coding component and the standby coding component;
a first operation module 200, configured to perform decoding operation on the main encoding signal, and obtain and output an absolute position including a first turn value and a single turn position; decoding operation is carried out on the standby coding signal, and a second circle value is obtained and recorded;
the second operation module 300 is configured to acquire a standby encoding signal output by the standby encoding component and obtain a second cycle value when the main power supply is powered off and the standby power supply supplies power to the standby encoding component;
and a third operation module 400, configured to, when the main power supply is powered off and then powered on again, determine a turn number correction value according to a current single-turn position and a zero position deviation of a code channel at the current time, correct a current second turn number value according to the turn number correction value, and output the corrected current second turn number value as a current turn number value, where the zero position deviation of the code channel is a zero position deviation between a code disc of the main encoding assembly and a code disc of the standby encoding assembly.
In an optional embodiment of the present application, the third operation module 400 includes:
the first correction unit is used for setting the correction value of the number of turns to be 0 when the current single-turn position and the starting base point are both positioned in a first interval or a second interval;
the second correction unit is used for setting the correction value of the number of turns to be-1 when the current single-turn position and the starting base point are respectively positioned in different intervals of the first interval and the second interval if a first code track zero point of the main coding assembly lags behind a second code track zero point of the standby coding assembly when a rotating shaft of the absolute encoder rotates;
a third correction unit, configured to, if a second track zero point of the standby coding assembly lags behind a first track zero point of the main coding assembly when the rotating shaft of the absolute encoder rotates, determine that the number-of-turns correction value is 1 when the current single-turn position and the starting base point are located in different two intervals, namely the first interval and the second interval, respectively;
the starting base point is a starting angle position point when the absolute encoder starts to work for the first time; the first interval is an acute angle interval between the first code channel zero point and the second code channel zero point; the second interval is an angle position interval outside the first interval of one circle of the coded disc.
In an optional embodiment of the present application, the third operation module 400 includes:
the first quadrant positioning unit is used for decoding a current main coding signal output by the main coding assembly to obtain a first current single-turn position; determining a first current quadrant interval in which the first current turn number position is located according to four quadrant intervals which are divided into a code disc of the main coding assembly in advance;
the second quadrant positioning unit is used for determining a second current quadrant interval where a second current turn number position corresponding to the current standby coding signal is located according to the current standby coding signal output by the standby coding assembly and four quadrant intervals which are divided by a code disc of the standby coding assembly in advance;
a single-turn interval positioning unit, configured to locate the current single turn position in the first interval if one of the first current quadrant interval and the second current quadrant interval is a first quadrant interval, and the other current quadrant interval is a fourth quadrant interval;
the four quadrant intervals of the coded disc of the main coding assembly and the coded disc of the standby coding assembly are divided by respectively and sequentially dividing a first quadrant interval, a second quadrant interval, a third quadrant interval and a fourth quadrant interval by taking the respective zero positions of the two coded discs as starting points and taking every 90-degree interval of the rotating direction of the coded discs as a quadrant interval.
In an optional embodiment of the present application, the second quadrant positioning unit is configured to determine the second current quadrant interval according to magnitudes of two sets of orthogonal square wave signals output by the two hall sensors of the encoding component, where the two sets of orthogonal square wave signals are output by sensing magnetic field changes of magnetic steel rotating along with a rotating shaft; the two groups of orthogonal square wave signals are high-level signals with one-half period, low-level signals with one-half period, and the phase difference of the two groups of orthogonal square wave signals is 90 degrees.
The number of turns decoding device of the absolute encoder of this embodiment is used to implement the number of turns decoding method of the absolute encoder, and therefore the specific implementation manner of the number of turns decoding device of the absolute encoder can be found in the embodiment of the number of turns decoding method of the absolute encoder in the foregoing, and is not described herein again.
The application further provides a circle number decoding system of the absolute encoder, which comprises a main encoding component, a standby encoding component, a main power supply, a standby power supply and an MCU chip; the standby coding component consumes less energy and has lower precision than the main coding component;
the main power supply is used for supplying power to the main coding assembly and the standby coding assembly;
the standby power supply is used for supplying power to the standby coding component when the main power supply is powered off;
the MCU chip is used for executing the steps of implementing the lap decoding method of the absolute encoder.
Taking the main encoding component as the photoelectric encoding component and the auxiliary encoding component as the magnetic encoding component for illustration, it is obvious that the optical encoding component generally consumes more energy for the magnetic encoding component. For the magnetic coding component, the main function is to obtain the number of rotation turns for decoding, so the magnetic coding component can be selected as a coding component with lower precision, even the single-turn position cannot be decoded accurately at all. As shown in fig. 4, the magnetic encoding assembly of fig. 4 including magnetic steel and two orthogonally disposed magnetic field sensors can be a possible embodiment of the magnetic encoding assembly of the present application.
Of course, in practical applications, the magnetic encoding component may also include only one magnet and one magnetic sensor, and the magnet may not pass through the magnetic sensor once, and then outputs a magnetic field signal, and so on, and the technical solution in this application may also be implemented, which is not described in detail herein.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Furthermore, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include elements inherent in the list. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element. In addition, parts of the above technical solutions provided in the embodiments of the present application, which are consistent with the implementation principles of corresponding technical solutions in the prior art, are not described in detail so as to avoid redundant description.
The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. A method for decoding a number of turns in an absolute encoder, comprising:
when a main power supply normally supplies power to a main coding assembly and a standby coding assembly, acquiring a main coding signal output by the main coding assembly and a standby coding signal output by the standby coding assembly;
performing decoding operation on the main coding signal to obtain and output an absolute position comprising a first circle value and a single circle position; decoding operation is carried out on the standby coding signal, and a second circle value is obtained and recorded;
when the main power supply is powered off and a standby power supply supplies power to the standby coding assembly, acquiring a standby coding signal output by the standby coding assembly and acquiring a second circle value;
and when the main power supply is powered on again after being powered off, determining a turn number correction value according to the current single-turn position and the code channel zero position deviation of the current moment, correcting a current second turn number value according to the turn number correction value, and outputting the corrected current second turn number value as a current turn number value, wherein the code channel zero position deviation is the zero position deviation between a code disc of the main coding assembly and a code disc of the standby coding assembly.
2. The lap decoding method of an absolute encoder as claimed in claim 1, wherein determining the lap correction value based on the current single-lap position and the track zero position deviation at the current time comprises:
when the current single-turn position and the starting base point are both located in a first interval or a second interval, the turn number correction value is 0;
if the rotating shaft of the absolute encoder rotates, a first code track zero point of the main encoding assembly lags behind a second code track zero point of the standby encoding assembly, and when the current single-turn position and the starting base point are respectively located in different intervals of the first interval and the second interval, the turn correction value is-1;
if the second code track zero point of the standby coding assembly lags behind the first code track zero point of the main coding assembly when the rotating shaft of the absolute encoder rotates, when the current single-turn position and the starting base point are respectively positioned in different intervals of the first interval and the second interval, the turn correction value is 1;
the starting base point is a starting angle position point when the absolute encoder starts to work for the first time; the first interval is an acute angle interval between the first code channel zero point and the second code channel zero point; the second interval is an angle position interval outside the first interval of one circle of the coded disc.
3. The lap decoding method of an absolute encoder according to claim 2, wherein the process of determining whether said current single-lap position is located in said first interval comprises:
decoding according to the current main coding signal output by the main coding component to obtain a first current single-turn position;
determining a first current quadrant interval in which the first current turn number position is located according to four quadrant intervals which are divided into a code disc of the main coding assembly in advance;
determining a second current quadrant interval where a second current turn number position corresponding to the current standby coding signal is located according to the current standby coding signal output by the standby coding assembly and four quadrant intervals which are divided by a code disc of the standby coding assembly in advance;
if one current quadrant interval of the first current quadrant interval and the second current quadrant interval is a first quadrant interval, and the other current quadrant interval is a fourth quadrant interval, the current single-turn position is located in the first interval;
the four quadrant intervals of the code disc of the main coding assembly and the code disc of the standby coding assembly are divided by respectively and sequentially dividing a first quadrant interval, a second quadrant interval, a third quadrant interval and a fourth quadrant interval along the rotation direction of the code disc by taking the respective code channel zero position of the two code discs as a starting point and taking every 90-degree interval as one quadrant interval.
4. A method for absolute encoder lap decoding as claimed in claim 3, wherein the process of determining a second current quadrant interval in which said second current lap position corresponding to the current encoded signal is located, comprises:
determining the second current quadrant interval according to the magnitudes of two groups of orthogonal square wave signals output by the two Hall sensors of the standby coding assembly in a manner of sensing the magnetic field change of the magnetic steel rotating along with the rotating shaft;
the two groups of orthogonal square wave signals are high-level signals with one-half period, low-level signals with one-half period, and the phase difference of the two groups of orthogonal square wave signals is 90 degrees.
5. A turn number decoding apparatus of an absolute encoder, comprising:
the data acquisition module is used for acquiring a main coding signal output by the main coding assembly and a standby coding signal output by the standby coding assembly when a main power supply normally supplies power to the main coding assembly and the standby coding assembly;
the first operation module is used for carrying out decoding operation on the main coding signal to obtain and output an absolute position comprising a first circle numerical value and a single circle position; decoding operation is carried out on the standby coding signal, and a second circle value is obtained and recorded;
the second operation module is used for acquiring a standby coding signal output by the standby coding component and acquiring a second circle value when the main power supply is powered off and a standby power supply supplies power to the standby coding component;
and the third operation module is used for determining a turn number correction value according to the current single-turn position and the zero position deviation of the code channel at the current moment when the main power supply is powered on again after being powered off, correcting a current second turn number value according to the turn number correction value and outputting the corrected current second turn number value as the current turn number value, wherein the zero position deviation of the code channel is the zero position deviation between the code disc of the main coding assembly and the code disc of the standby coding assembly.
6. The absolute encoder turn decoding apparatus according to claim 5, wherein the third operation module comprises:
the first correction unit is used for setting the correction value of the number of turns to be 0 when the current single-turn position and the starting base point are both positioned in a first interval or a second interval;
if a first code track zero point of the main coding assembly lags behind a second code track zero point of the standby coding assembly when a rotating shaft of the absolute encoder rotates, the second correction unit determines that the correction value of the number of turns is-1 when the current single-turn position and the starting base point are respectively located in different sections of the first section and the second section;
a third correction unit, configured to, if a second track zero point of the standby coding assembly lags behind a first track zero point of the main coding assembly when the rotating shaft of the absolute encoder rotates, determine that the number-of-turns correction value is 1 when the current single-turn position and the starting base point are located in different two intervals, namely the first interval and the second interval, respectively;
the starting base point is a starting angle position point when the absolute encoder starts to work for the first time; the first interval is an acute angle interval between the first code channel zero point and the second code channel zero point; the second interval is an angle position interval outside the first interval of one circle of the coded disc.
7. The absolute encoder turn decoding apparatus according to claim 5, wherein the third operation module comprises:
the first quadrant positioning unit is used for decoding a current main coding signal output by the main coding assembly to obtain a first current single-turn position; determining a first current quadrant interval in which the first current turn number position is located according to four quadrant intervals which are divided into a code disc of the main coding assembly in advance;
the second quadrant positioning unit is used for determining a second current quadrant interval where a second current turn number position corresponding to the current standby coding signal is located according to the current standby coding signal output by the standby coding assembly and four quadrant intervals which are divided by a code disc of the standby coding assembly in advance;
a single-turn interval positioning unit, configured to locate the current single turn position in the first interval if one of the first current quadrant interval and the second current quadrant interval is a first quadrant interval, and the other current quadrant interval is a fourth quadrant interval;
the four quadrant intervals of the coded disc of the main coding assembly and the coded disc of the standby coding assembly are divided by respectively and sequentially dividing a first quadrant interval, a second quadrant interval, a third quadrant interval and a fourth quadrant interval by taking the respective zero positions of the two coded discs as starting points and taking every 90-degree interval of the rotating direction of the coded discs as a quadrant interval.
8. A circle number decoding system of an absolute encoder is characterized by comprising a main encoding component, a standby encoding component, a main power supply, a standby power supply and an MCU chip; the standby coding component is a coding component which consumes less energy and has lower precision than the main coding component;
the main power supply is used for supplying power to the main coding assembly and the standby coding assembly;
the standby power supply is used for supplying power to the standby coding component when the main power supply is powered off;
the MCU chip is used for executing the steps of implementing the lap decoding method of the absolute encoder according to any one of claims 1 to 4.
9. The absolute encoder turn of rotation decoding system of claim 8, wherein the primary encoding component is a first opto-electronic encoding component; the encoding component is a magnetic encoding component; the encoding component comprises magnetic steel fixedly connected with a rotating shaft of the absolute encoder and a magnetic field sensor arranged on the periphery of the magnetic steel.
10. The absolute encoder number of rotations decoding system of claim 9, wherein said magnetic field sensor comprises two hall sensors orthogonally disposed at an outer peripheral portion of said magnetic steel.
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