CN113050699B - Control method and device based on magnetic encoder - Google Patents
Control method and device based on magnetic encoder Download PDFInfo
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- CN113050699B CN113050699B CN202010891510.8A CN202010891510A CN113050699B CN 113050699 B CN113050699 B CN 113050699B CN 202010891510 A CN202010891510 A CN 202010891510A CN 113050699 B CN113050699 B CN 113050699B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/10—Control of position or direction without using feedback
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
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Abstract
The invention provides a control method and a device based on a magnetic encoder, wherein the method comprises the following steps: step 1, receiving a first coding signal and a second coding signal output by a magnetic encoder; step 2, determining the rotation angle theta of the magnetic encoder; step 3, determining the rotation direction of the rotation angle theta of the magnetic encoder; step 4, acquiring a parameter item to be adjusted currently; and 5, adjusting the parameter item according to the magnitude and the direction of the rotation angle theta of the magnetic encoder. The invention realizes the control of low cost and high reliability of the target equipment.
Description
Technical Field
The present invention relates to the field of encoder technologies, and in particular, to a magnetic encoder-based control method and apparatus.
Background
At present, a mechanical encoder is mostly adopted on a knob for adjusting the volume of a plurality of electronic products, and the mechanical structure of the encoder is complex, and the service life of the encoder is generally not long. Some electronic products are also presented today that employ photoelectric encoders. The photoelectric encoder is an angular displacement measuring sensor taking a reticle code disc or a metering grating as a core component, and due to the fact that grating materials are used, the photoelectric encoder cannot adapt to harsh environment, when the photoelectric encoder is subjected to external large impact, the code disc is easy to crack, the grating processing technology is complex, higher assembly and positioning precision are required, the service life of a photosensitive device is limited, and the photoelectric encoder with high precision is high in processing difficulty and difficult to control.
Accordingly, there is a need for further improvements in the art.
Disclosure of Invention
The invention provides a control method and a control device based on a magnetic encoder, which aim to overcome the defects in the prior art and provide a control method and a control device with low cost and high reliability for target equipment.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
in one aspect, the present invention provides a control method based on a magnetic encoder, including:
step 1, receiving a first coding signal and a second coding signal output by a magnetic encoder;
step 2, determining the rotation angle theta of the magnetic encoder;
step 3, determining the rotation direction of the rotation angle theta of the magnetic encoder;
step 4, acquiring a parameter item to be adjusted currently;
and 5, adjusting the parameter item according to the magnitude and the direction of the rotation angle theta of the magnetic encoder.
Specifically, the step 2 includes:
step 201, obtaining a first code signal voltage maximum value vx_max and a voltage minimum value vx_min, and a second code signal voltage maximum value vy_max and a voltage minimum value vy_min;
step 202, calculating an intermediate value vx_ave and a polar value vx_p of the first encoded signal, and an intermediate value vy_ave and a polar value vy_pp of the second encoded signal;
step 203, obtaining the current voltage VX of the first encoded signal, and obtaining the current voltage VY of the second encoded signal;
step 204, calculating a current rotation angle θx of the first encoded signal and a current rotation angle θy of the second encoded signal;
step 205, judging the region where the rotation angle theta of the magnetic encoder is located;
step 206, if the rotation angle θ of the magnetic encoder is in the first and third regions, the second encoded signal is used as a reference signal, and if the rotation angle θ of the magnetic encoder is in the second and fourth regions, the first encoded signal is used as a reference signal;
step 207, determining the rotation angle theta of the magnetic encoder according to the reference signal.
Specifically, vx_ave= (vx_max+vx_min)/2, vx_pp=vx_max-vx_min; vy_ave= (vy_max+vy_min)/2, y_pp=vy_max-vy_min;
the first encoded signal current rotation angle θx=arccos [2 (VX-vx_ave)/vx_pp ];
the second encoded signal is currently rotated by an angle θy=arccos [2 (VY-vy_ave)/vy_pp ].
Specifically, the step 205 includes:
judging whether (VX-VX_AVE)/VX_PP >0.7 is true, if so, the rotation angle theta is in a first area;
judging whether (VY-VY_AVE)/VY_PP >0.7 is true, if so, the rotation angle theta is in a second area;
judging whether (VX_AVE-VX)/VX_PP >0.7 is true, if so, the rotation angle theta is in a third area;
judging whether (VY_AVE-VY)/VY_PP >0.7 is true, and if so, the rotation angle theta is in a fourth area.
Specifically, the step 207 includes:
if the rotation angle theta of the magnetic encoder is in the first area, the rotation angle theta of the magnetic encoder is=2.5pi-thetay;
if the rotation angle theta of the magnetic encoder is in the second area, the rotation angle theta of the magnetic encoder is=thetax;
if the rotation angle θ of the magnetic encoder is in the third region, the rotation angle θ of the magnetic encoder=0.5pi+θy;
and if the rotation angle theta of the magnetic encoder is in the fourth area, the rotation angle theta of the magnetic encoder is=2pi-thetax.
Specifically, the step 3 includes:
if the rotation angle theta of the magnetic encoder is in the first area and the third area, judging that the magnetic encoder rotates clockwise when the rotation angle theta is larger than thetax, otherwise, judging that the magnetic encoder rotates anticlockwise;
if the rotation angle theta of the magnetic encoder is in the second area and the fourth area, and when the rotation angle theta is larger than the theta y, the magnetic encoder is judged to rotate clockwise, otherwise, the magnetic encoder is judged to rotate anticlockwise.
Another aspect of the present invention provides a magnetic encoder-based control apparatus, comprising:
the device comprises a biphase magnetic encoder, a processing module and an executing module which are connected in sequence;
the biphase magnetic encoder is used for outputting an encoded electric signal;
the processing module is used for receiving and processing the coded electric signals output by the biphase magnetic encoder, obtaining the size and the direction of the rotating angle of the magnetic encoder and generating parameter item adjusting instructions;
and the execution module is used for responding to the parameter item adjusting instruction and outputting an adjusting result.
Specifically, the processing module includes: the device comprises a signal receiving unit, an angle calculating unit, a steering determining unit, an instruction generating unit and a parameter obtaining unit connected with the instruction generating unit, wherein the signal receiving unit, the angle calculating unit, the steering determining unit, the instruction generating unit and the parameter obtaining unit are connected in sequence;
the signal receiving unit is used for receiving the coded electric signals output by the biphase magnetic coder;
the angle calculation unit is used for determining the rotating angle of the magnetic encoder;
the steering determining unit is used for determining the rotation direction of the rotation angle of the magnetic encoder;
the parameter acquisition unit is used for acquiring a parameter item which needs to be adjusted currently;
the instruction generation unit is used for generating a parameter item adjusting instruction according to the magnitude and the direction of the rotation angle theta of the magnetic encoder and the parameter item which needs to be adjusted before.
Specifically, the angle calculation unit determines the magnitude of the rotation angle of the magnetic encoder according to the following method:
the angle calculation unit obtains a first coding signal voltage maximum value VX_MAX and a voltage minimum value VX_MIN, and a second coding signal voltage maximum value VY_MAX and a voltage minimum value VY_MIN; the angle calculating unit calculates an intermediate value VX_AVE and a polar difference value VX_P of the first coding signal, and an intermediate value VY_AVE and a polar difference value VY_PP of the second coding signal; the angle calculation unit obtains the current voltage VX of the first coding signal and obtains the current voltage VY of the second coding signal; the angle calculating unit calculates a current rotation angle thetax of the first encoded signal and a current rotation angle thetay of the second encoded signal; the angle calculating unit judges the region where the rotation angle theta of the magnetic encoder is located; if the angle calculating unit judges that the rotation angle theta of the magnetic encoder is in the first area and the third area, the second coding signal is used as a reference signal, and if the angle calculating unit judges that the rotation angle theta of the magnetic encoder is in the second area and the fourth area, the first coding signal is used as the reference signal; the angle calculating unit determines the magnitude of the rotation angle theta of the magnetic encoder according to the reference signal.
Specifically, the steering determination unit determines the rotational direction of the magnetic encoder rotational angle according to the following method: if the steering determining unit judges that the rotation angle theta of the magnetic encoder is in the first area and the third area, if theta is larger than thetax, the magnetic encoder is judged to rotate clockwise, otherwise, the magnetic encoder is judged to rotate anticlockwise; and if the steering determining unit judges that the rotation angle theta of the magnetic encoder is in the second and fourth areas, and if theta is more than thetay, the magnetic encoder is judged to rotate clockwise, otherwise, the magnetic encoder is judged to rotate anticlockwise.
The invention has the beneficial effects that: according to the invention, the size and the rotation direction of the rotation angle of the magnetic encoder are determined by receiving the encoding signals output by the magnetic encoder, the parameter item to be adjusted currently is obtained, and finally the parameter item is adjusted, so that the control of low cost and high reliability of target equipment is realized.
Drawings
FIG. 1 is a schematic diagram of signal direction and angular partitioning of a magnetic encoder of the present invention;
FIG. 2 is a flow chart of a magnetic encoder based control method of the present invention;
FIG. 3 is a schematic diagram of the magnetic encoder based control apparatus of the present invention;
fig. 4 is a schematic view of the structure of the process module of the present invention.
Detailed Description
Embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which are for reference and illustration only, and are not intended to limit the scope of the invention.
As shown in fig. 1, the magnetic encoder of the present invention is a dual-phase magnetic encoder, defining an X-phase as a first encoded signal and a Y-phase as a second encoded signal, where the first encoded signal is orthogonal to the second encoded signal; and the rotation angle theta of the magnetic rotor of the magnetic encoder is equally divided into four areas: the angle theta is more than or equal to 315 degrees and less than 45 degrees and is the first area, the angle theta is more than or equal to 45 degrees and less than 135 degrees and is the second area, the angle theta is more than or equal to 135 degrees and less than 225 degrees and is the third area, and the angle theta is more than or equal to 225 degrees and less than 315 degrees and is the fourth area. Clockwise is forward rotation, and counterclockwise is reverse rotation.
Example 1
As shown in fig. 2, the present embodiment provides a control method based on a magnetic encoder, including:
and step 1, receiving a first coded signal and a second coded signal output by the magnetic encoder.
And 2, determining the rotation angle theta of the magnetic encoder.
In this embodiment, the step 2 includes:
step 201, a first code signal voltage maximum value vx_max and a voltage minimum value vx_min are obtained, and a second code signal voltage maximum value vy_max and a voltage minimum value vy_min are obtained.
Step 202, calculating the intermediate value vx_ave and the polar value vx_p of the first encoded signal, and the intermediate value vy_ave and the polar value vy_pp of the second encoded signal.
In this embodiment, vx_ave= (vx_max+vx_min)/2, vx_pp=vx_max-vx_min.
VY_AVE＝(VY_MAX+VY_MIN)/2，VY_PP＝VY_MAX-VY_MIN。
Step 203, the current voltage VX of the first encoded signal is obtained, and the current voltage VY of the second encoded signal is obtained.
Step 204, calculating the current rotation angle θx of the first encoded signal and the current rotation angle θy of the second encoded signal.
In this embodiment:
the first encoded signal current rotation angle θx=arccos [2 (VX-vx_ave)/vx_pp ];
the second encoded signal is currently rotated by an angle θy=arccos [2 (VY-vy_ave)/vy_pp ].
Step 205, judging the region where the rotation angle θ of the magnetic encoder is located.
In this embodiment, the step 205 includes:
judging whether (VX-VX_AVE)/VX_PP >0.7 is true, if so, the rotation angle theta is in a first area;
judging whether (VY-VY_AVE)/VY_PP >0.7 is true, if so, the rotation angle theta is in a second area;
judging whether (VX_AVE-VX)/VX_PP >0.7 is true, if so, the rotation angle theta is in a third area;
judging whether (VY_AVE-VY)/VY_PP >0.7 is true, and if so, the rotation angle theta is in a fourth area.
Step 206, if the rotation angle θ of the magnetic encoder is in the first and third regions, the second encoded signal is used as a reference signal, and if the rotation angle θ of the magnetic encoder is in the second and fourth regions, the first encoded signal is used as a reference signal.
The reference signal is the value of the rotation angle theta of the magnetic encoder calculated by taking the signal as a reference.
Step 207, determining the rotation angle theta of the magnetic encoder according to the reference signal.
In this embodiment, the step 207 includes:
if the rotation angle theta of the magnetic encoder is in the first area, the rotation angle theta of the magnetic encoder is=2.5pi-thetay;
if the rotation angle theta of the magnetic encoder is in the second area, the rotation angle theta of the magnetic encoder is=thetax;
if the rotation angle θ of the magnetic encoder is in the third region, the rotation angle θ of the magnetic encoder=0.5pi+θy;
and if the rotation angle theta of the magnetic encoder is in the fourth area, the rotation angle theta of the magnetic encoder is=2pi-thetax.
And 3, determining the rotation direction of the rotation angle theta of the magnetic encoder.
In this embodiment, the step 3 includes:
if the rotation angle theta of the magnetic encoder is in the first area and the third area, judging that the magnetic encoder rotates clockwise when the rotation angle theta is larger than thetax, otherwise, judging that the magnetic encoder rotates anticlockwise;
if the rotation angle theta of the magnetic encoder is in the second area and the fourth area, and when the rotation angle theta is larger than the theta y, the magnetic encoder is judged to rotate clockwise, otherwise, the magnetic encoder is judged to rotate anticlockwise.
And 4, acquiring a parameter item to be adjusted currently.
For example, the current mode is a radio mode, and the parameter item to be adjusted is volume.
And 5, adjusting the parameter item according to the magnitude and the direction of the rotation angle theta of the magnetic encoder.
For example, the volume will be increased by 2 grid.
Example 2
As shown in fig. 3, the present embodiment provides a control device based on a magnetic encoder, including:
the device comprises a biphase magnetic encoder, a processing module and an executing module which are connected in sequence;
the biphase magnetic encoder is used for outputting an encoded electric signal;
the processing module is used for receiving and processing the coded electric signals output by the biphase magnetic encoder, obtaining the size and the direction of the rotating angle of the magnetic encoder and generating parameter item adjusting instructions;
and the execution module is used for responding to the parameter item adjusting instruction and outputting an adjusting result.
The working process of the control device based on the magnetic encoder comprises the following steps:
the processing module receives and processes the coded electric signals output by the biphase magnetic encoder, obtains the rotation angle and direction of the magnetic encoder, generates parameter item adjusting instructions according to the current working mode, and sends the parameter item adjusting instructions to the execution module; and the execution module responds to the parameter item adjusting instruction and outputs an adjusting result.
Example 3
As shown in fig. 4, unlike embodiment 3, this embodiment provides a specific structure of the processing module, including:
the device comprises a signal receiving unit, an angle calculating unit, a steering determining unit, an instruction generating unit and a parameter obtaining unit connected with the instruction generating unit, wherein the signal receiving unit, the angle calculating unit, the steering determining unit, the instruction generating unit and the parameter obtaining unit are connected in sequence;
the signal receiving unit is used for receiving the coded electric signals output by the biphase magnetic coder;
the angle calculation unit is used for determining the rotating angle of the magnetic encoder;
the steering determining unit is used for determining the rotation direction of the rotation angle of the magnetic encoder;
the parameter acquisition unit is used for acquiring a parameter item which needs to be adjusted currently;
the instruction generation unit is used for generating a parameter item adjusting instruction according to the magnitude and the direction of the rotation angle theta of the magnetic encoder and the parameter item which needs to be adjusted before.
The working process of the processing module is as follows:
firstly, the signal receiving unit receives the coded electric signal output by the biphase magnetic coder;
then, the angle calculating unit determines the rotation angle of the magnetic encoder according to the encoded electric signal, specifically, the rotation angle of the magnetic encoder according to the following method:
1) The angle calculation unit obtains a first code signal voltage maximum value VX_MAX and a voltage minimum value VX_MIN, and a second code signal voltage maximum value VY_MAX and a voltage minimum value VY_MIN.
2) The angle calculation unit calculates an intermediate value vx_ave and a polar value vx_p of the first encoded signal, and an intermediate value vy_ave and a polar value vy_pp of the second encoded signal.
In this embodiment, vx_ave= (vx_max+vx_min)/2, vx_pp=vx_max-vx_min.
VY_AVE＝(VY_MAX+VY_MIN)/2，VY_PP＝VY_MAX-VY_MIN。
3) The angle calculation unit obtains the current voltage VX of the first code signal and obtains the current voltage VY of the second code signal.
4) The angle calculation unit calculates a current rotation angle θx of the first encoded signal and a current rotation angle θy of the second encoded signal.
In this embodiment:
the first encoded signal current rotation angle θx=arccos [2 (VX-vx_ave)/vx_pp ];
the second encoded signal is currently rotated by an angle θy=arccos [2 (VY-vy_ave)/vy_pp ].
5) The angle calculating unit judges the region where the rotation angle theta of the magnetic encoder is located.
The method specifically comprises the following steps:
judging whether (VX-VX_AVE)/VX_PP >0.7 is true, if so, the rotation angle theta is in a first area;
judging whether (VY-VY_AVE)/VY_PP >0.7 is true, if so, the rotation angle theta is in a second area;
judging whether (VX_AVE-VX)/VX_PP >0.7 is true, if so, the rotation angle theta is in a third area;
judging whether (VY_AVE-VY)/VY_PP >0.7 is true, if so, the rotation angle theta is in a fourth area;
6) And if the angle calculating unit judges that the rotation angle theta of the magnetic encoder is in the first area and the third area, the second coding signal is used as a reference signal, and if the angle calculating unit judges that the rotation angle theta of the magnetic encoder is in the second area and the fourth area, the first coding signal is used as the reference signal.
The reference signal is the value of the rotation angle theta of the magnetic encoder calculated by taking the signal as a reference.
7) The angle calculating unit determines the magnitude of the rotation angle theta of the magnetic encoder according to the reference signal.
The method specifically comprises the following steps:
if the angle calculation unit judges that the rotation angle theta of the magnetic encoder is in a first area, the rotation angle theta of the magnetic encoder is=2.5pi-thetay;
if the angle calculating unit judges that the rotation angle theta of the magnetic encoder is in the second area, the rotation angle theta of the magnetic encoder is=thetax;
if the angle calculating unit judges that the rotation angle theta of the magnetic encoder is in a third area, the rotation angle theta of the magnetic encoder is=0.5pi+θy;
and if the angle calculation unit judges that the rotation angle theta of the magnetic encoder is in the fourth area, the rotation angle theta of the magnetic encoder is=2pi-thetax.
Next, the steering determination unit determines the rotational direction of the magnetic encoder rotation angle, specifically, the rotational direction of the magnetic encoder rotation angle according to the following method:
if the steering determining unit judges that the rotation angle theta of the magnetic encoder is in the first area and the third area, if theta is larger than thetax, the magnetic encoder is judged to rotate clockwise, otherwise, the magnetic encoder is judged to rotate anticlockwise;
and if the steering determining unit judges that the rotation angle theta of the magnetic encoder is in the second and fourth areas, and if theta is more than thetay, the magnetic encoder is judged to rotate clockwise, otherwise, the magnetic encoder is judged to rotate anticlockwise.
Simultaneously, the parameter acquisition unit acquires a parameter item which needs to be adjusted currently;
and finally, the instruction generating unit generates a parameter item adjusting instruction according to the magnitude and the direction of the rotation angle theta of the magnetic encoder and the parameter item which needs to be adjusted before and sends the parameter item adjusting instruction to the execution module.
The above disclosure is illustrative of the preferred embodiments of the present invention and should not be construed as limiting the scope of the invention, which is defined by the appended claims.
Claims (5)
1. A magnetic encoder-based control method, comprising:
step 1, receiving a first coding signal and a second coding signal output by a magnetic encoder;
step 2, determining the rotation angle theta of the magnetic encoder;
step 3, determining the rotation direction of the rotation angle theta of the magnetic encoder;
step 4, acquiring a parameter item to be adjusted currently;
step 5, adjusting the parameter item according to the magnitude and the direction of the rotation angle theta of the magnetic encoder;
the step 2 comprises the following steps:
step 201, obtaining a first code signal voltage maximum value vx_max and a voltage minimum value vx_min, and a second code signal voltage maximum value vy_max and a voltage minimum value vy_min;
step 202, calculating an intermediate value vx_ave and a minimum value vx_pp of the first encoded signal, and an intermediate value vy_ave and a minimum value vy_pp of the second encoded signal;
step 203, obtaining the current voltage VX of the first encoded signal, and obtaining the current voltage VY of the second encoded signal;
step 204, calculating a current rotation angle θx of the first encoded signal and a current rotation angle θy of the second encoded signal;
step 205, judging the region where the rotation angle theta of the magnetic encoder is located;
step 206, if the rotation angle θ of the magnetic encoder is in the first and third regions, the second encoded signal is used as a reference signal, and if the rotation angle θ of the magnetic encoder is in the second and fourth regions, the first encoded signal is used as a reference signal;
step 207, determining the rotation angle theta of the magnetic encoder according to the reference signal;
the vx_ave= (vx_max+vx_min)/2, vx_pp=vx_max-vx_min; vy_ave= (vy_max+vy_min)/2, y_pp=vy_max-vy_min;
the first encoded signal current rotation angle θx=arccos [2 (VX-vx_ave)/vx_pp ];
the second encoded signal current rotation angle θy=arccos [2 (VY-vy_ave)/vy_pp ];
the step 205 includes:
judging whether (VX-VX_AVE)/VX_PP >0.7 is true, if so, the rotation angle theta is in a first area;
judging whether (VY-VY_AVE)/VY_PP >0.7 is true, if so, the rotation angle theta is in a second area;
judging whether (VX_AVE-VX)/VX_PP >0.7 is true, if so, the rotation angle theta is in a third area;
judging whether (VY_AVE-VY)/VY_PP >0.7 is true, and if so, the rotation angle theta is in a fourth area.
2. The method of claim 1, wherein the step 207 comprises:
if the rotation angle theta of the magnetic encoder is in the first area, the rotation angle theta of the magnetic encoder is=2.5pi-thetay;
if the rotation angle theta of the magnetic encoder is in the second area, the rotation angle theta of the magnetic encoder is=thetax;
if the rotation angle θ of the magnetic encoder is in the third region, the rotation angle θ of the magnetic encoder=0.5pi+θy;
and if the rotation angle theta of the magnetic encoder is in the fourth area, the rotation angle theta of the magnetic encoder is=2pi-thetax.
3. The magnetic encoder-based control method according to claim 2, wherein the step 3 includes:
if the rotation angle theta of the magnetic encoder is in the first area and the third area, judging that the magnetic encoder rotates clockwise when the rotation angle theta is larger than thetax, otherwise, judging that the magnetic encoder rotates anticlockwise;
if the rotation angle theta of the magnetic encoder is in the second area and the fourth area, and when the rotation angle theta is larger than the theta y, the magnetic encoder is judged to rotate clockwise, otherwise, the magnetic encoder is judged to rotate anticlockwise.
4. A magnetic encoder-based control device, comprising:
the device comprises a biphase magnetic encoder, a processing module and an executing module which are connected in sequence;
the biphase magnetic encoder is used for outputting an encoded electric signal;
the processing module is used for receiving and processing the coded electric signals output by the biphase magnetic encoder, obtaining the size and the direction of the rotating angle of the magnetic encoder and generating parameter item adjusting instructions;
the execution module is used for responding to the parameter item adjusting instruction and outputting an adjusting result;
the processing module comprises: the device comprises a signal receiving unit, an angle calculating unit, a steering determining unit, an instruction generating unit and a parameter obtaining unit connected with the instruction generating unit, wherein the signal receiving unit, the angle calculating unit, the steering determining unit, the instruction generating unit and the parameter obtaining unit are connected in sequence;
the signal receiving unit is used for receiving the coded electric signals output by the biphase magnetic coder;
the angle calculation unit is used for determining the rotating angle of the magnetic encoder;
the steering determining unit is used for determining the rotation direction of the rotation angle of the magnetic encoder;
the parameter acquisition unit is used for acquiring a parameter item which needs to be adjusted currently;
the instruction generation unit is used for generating a parameter item adjusting instruction according to the magnitude and the direction of the rotation angle theta of the magnetic encoder and a parameter item which needs to be adjusted before;
the angle calculating unit determines the rotation angle of the magnetic encoder according to the following method:
the angle calculation unit obtains a first coding signal voltage maximum value VX_MAX and a voltage minimum value VX_MIN, and a second coding signal voltage maximum value VY_MAX and a voltage minimum value VY_MIN; the angle calculating unit calculates an intermediate value VX_AVE and a limit value VX_PP of the first coding signal, and an intermediate value VY_AVE and a limit value VY_PP of the second coding signal; the angle calculation unit obtains the current voltage VX of the first coding signal and obtains the current voltage VY of the second coding signal; the angle calculating unit calculates a current rotation angle thetax of the first encoded signal and a current rotation angle thetay of the second encoded signal; the angle calculating unit judges the region where the rotation angle theta of the magnetic encoder is located; the second code signal is used as a reference signal if the angle calculating unit judges that the rotation angle theta of the magnetic encoder is in the first area and the third area, and the first code signal is used as the reference signal if the angle calculating unit judges that the rotation angle theta of the magnetic encoder is in the second area and the fourth area; the angle calculating unit determines the rotating angle theta of the magnetic encoder according to the reference signal;
the angle calculating unit calculates an intermediate value vx_ave, a polar difference value vx_pp of the first encoded signal, an intermediate value vy_ave, a polar difference value vy_pp of the second encoded signal, a current rotation angle θx of the first encoded signal, and a current rotation angle θy of the second encoded signal according to the following formula:
the vx_ave= (vx_max+vx_min)/2, vx_pp=vx_max-vx_min; vy_ave= (vy_max+vy_min)/2, y_pp=vy_max-vy_min;
the first encoded signal current rotation angle θx=arccos [2 (VX-vx_ave)/vx_pp ];
the second encoded signal current rotation angle θy=arccos [2 (VY-vy_ave)/vy_pp ];
the angle calculating unit judges the region where the rotation angle theta of the magnetic encoder is located according to the following method:
judging whether (VX-VX_AVE)/VX_PP >0.7 is true, if so, the rotation angle theta is in a first area;
judging whether (VY-VY_AVE)/VY_PP >0.7 is true, if so, the rotation angle theta is in a second area;
judging whether (VX_AVE-VX)/VX_PP >0.7 is true, if so, the rotation angle theta is in a third area;
judging whether (VY_AVE-VY)/VY_PP >0.7 is true, and if so, the rotation angle theta is in a fourth area.
5. The magnetic encoder-based control apparatus according to claim 4, wherein the steering determination unit determines the rotation direction of the magnetic encoder rotation angle according to the following method: if the steering determining unit judges that the rotation angle theta of the magnetic encoder is in the first area and the third area, if theta is larger than thetax, the magnetic encoder is judged to rotate clockwise, otherwise, the magnetic encoder is judged to rotate anticlockwise; and if the steering determining unit judges that the rotation angle theta of the magnetic encoder is in the second and fourth areas, and if theta is more than thetay, the magnetic encoder is judged to rotate clockwise, otherwise, the magnetic encoder is judged to rotate anticlockwise.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010891510.8A CN113050699B (en) | 2020-08-30 | 2020-08-30 | Control method and device based on magnetic encoder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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