CN113358140A - Positive and negative zero offset elimination method and counting method of incremental rotary encoder - Google Patents
Positive and negative zero offset elimination method and counting method of incremental rotary encoder Download PDFInfo
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- CN113358140A CN113358140A CN202110614603.0A CN202110614603A CN113358140A CN 113358140 A CN113358140 A CN 113358140A CN 202110614603 A CN202110614603 A CN 202110614603A CN 113358140 A CN113358140 A CN 113358140A
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- 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
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Abstract
The invention provides a positive and negative zero offset eliminating method and a system of an incremental rotary encoder, a counting method of the incremental rotary encoder and a computer readable storage medium, which can eliminate the zero offset of the incremental rotary encoder during positive and negative rotation and output accurate zero position.
Description
Technical Field
The invention relates to the technical field of incremental rotary encoders, in particular to a positive and negative zero offset elimination method and system of an incremental rotary encoder, a counting method of the incremental rotary encoder and a computer readable storage medium.
Background
The incremental rotary encoder comprises a fixed shell and a rotating shaft which can rotate relative to the shell, and three output signals of an A phase, a B phase and a Z phase, as shown in figure 1.
When the casing 1 of the encoder is fixed and the rotating shaft 2 rotates relative to the casing from position 1 to position 2 (zero position) clockwise in fig. 1 through position 0 or from position 2 to position 1 counterclockwise through position 0 (zero position), the output signals of the A phase, the B phase and the Z phase are as shown in fig. 2.
The reading principle of an angle counter matched with a coder in the current market is to count the number of rising edges or falling edges output by an A phase or a B phase to obtain the rotating angle of a rotating shaft; judging the level of the phase A or the phase B at each edge moment of the phase A or the phase B to acquire the rotating direction of the rotating shaft to be clockwise or anticlockwise; and judging the level of the Z phase at each edge moment of the A phase or the B phase to acquire the zero position of the encoder. Referring to fig. 2, taking the rising edge of phase a as an example, clockwise rotation angle is defined as positive, counterclockwise rotation angle is defined as negative, the counting determination process is as shown in fig. 3, where ×) represents the rising edge, H represents the high level, L represents the low level, and table 1 gives a logical truth table of the counting manner.
| Phase A | Phase B | Phase Z | Counter result |
| ↑ | H or L | H | Zero setting |
| ↑ | L | L | +1 |
| ↑ | H | L | -1 |
TABLE 1
As can be seen from fig. 2, fig. 3 and table 1, taking the rising edge of phase a as an example, when the rotating shaft of the encoder rotates in one direction, the zero position output of the encoder is accurate; when the rotating shaft respectively passes through the zero positions of the encoders in a clockwise (forward direction) or a counterclockwise (reverse direction), the zero positions output by the two are not coincident, and a positive and negative zero offset exists, as shown in fig. 4.
This deviation is a systematic error because the high level of the Z-phase output of the encoder also has a width that is not an accurate, stable value for different makes and models of encoders, and the exact value of this width is not usually indicated in product manuals.
When the width of the Z phase does not exceed one period of high level + low level of the a phase or the B phase, the positive and negative zero offset values are equivalent to the width of the high level of the a phase or the B phase in fig. 4, but when the width of the Z phase exceeds one period, larger and larger deviations are brought, and the direction of the deviation can be either positive or negative along with the difference of the width of the Z phase, and is difficult to eliminate by a uniform method, as shown in fig. 5.
For a unidirectional rotation encoder or an occasion with low zero bit precision requirement, the deviation can be ignored. But if the encoder has both positive and negative rotation and the zero precision requirement is high, the deviation must be eliminated. Therefore, an angle counting mode capable of eliminating the error needs to be specially designed so as to meet the application occasions of positive and negative rotation and high precision of the incremental rotary encoder.
Disclosure of Invention
The invention provides a positive and negative zero offset eliminating method and a counting method of an incremental rotary encoder, which can eliminate the zero offset of the incremental rotary encoder during positive and negative rotation and output accurate zero.
The technical scheme is as follows: a positive and negative zero offset eliminating method of an incremental rotary encoder comprises the following steps: and setting a Z 'phase opposite to the phase of the Z phase, and judging the zero position of the counter output through the rising edge of the output of the Z phase or the Z' phase so as to eliminate the positive and negative zero offset.
Further, a Z-phase inverter is connected in the output phase of the encoder to form a Z' phase.
A method of counting rotational angles of an incremental rotary encoder, comprising the steps of:
setting a Z' phase opposite to the phase of the Z phase;
waiting for the output of the encoder;
when the rising edge of the Z phase or Z' phase output is received, the counter is set to zero;
when the rising edge of the phase A output is received, the level of the phase B output is judged;
when the B phase outputs high level, subtracting one from the rotating angle calculated by the counter, selecting the Z phase to judge the zero setting of the counter, closing the Z' phase, and when the Z phase outputs rising edge, setting the zero setting of the counter;
and when the B phase outputs low level, adding one to the rotating angle calculated by the counter, selecting the Z 'phase to judge the counter to be set to zero, closing the Z phase, and when the Z' phase outputs a rising edge, setting the counter to be zero.
Further, a Z-phase inverter is connected in the output phase of the encoder to form a Z' phase.
A positive and negative zero offset cancellation system for an incremental rotary encoder, comprising in combination:
an encoder for detecting a rotation angle;
an inverter having an input connected to the Z phase of the encoder and an output connected to a processor;
the processor is also connected with A, B, Z phase of the encoder and is used for receiving the electric signal output by the encoder and outputting the counting result of the rotation angle;
the power supply module is respectively connected with the encoder, the phase inverter and the processor and is used for supplying power to the encoder, the phase inverter and the processor;
the system for eliminating the positive and negative zero offset of the incremental rotary encoder counts the rotating angle and outputs the zero position by adopting the rotating angle counting method of the incremental rotary encoder.
A computer readable storage medium, having a program stored thereon, which when executed by a processor, implements a positive and negative zero offset cancellation method of an incremental rotary encoder as described above.
A computer-readable storage medium, on which a program is stored, which, when being executed by a processor, implements a rotation angle counting method of an incremental rotary encoder as described above.
The invention discloses a positive and negative zero offset eliminating method and a counting method of an incremental rotary encoder, which are different from the principle of the existing angle counter, innovatively and preferentially judge a zero position signal and read the information of an output angle.
Drawings
FIG. 1 is a schematic diagram of a prior art incremental rotary encoder;
FIG. 2 is a phase diagram of the output of a prior art incremental rotary encoder;
FIG. 3 is a flow chart of counting determination of an incremental rotary encoder of the prior art;
FIG. 4 is a schematic diagram of positive and negative zero-out deviations present in an encoder;
FIG. 5 is a schematic illustration of positive and negative zero-shift deviations when the width of the Z-phase of the encoder exceeds one cycle;
FIG. 6 is a phase diagram of an output of an incremental rotary encoder in a method of counting rotational angles of the incremental rotary encoder according to an embodiment;
FIG. 7 is a flowchart illustrating a counting determination in a rotation angle counting method of an incremental rotary encoder according to an embodiment;
FIG. 8 is a schematic diagram of positive and negative zero offset generated by the method of the embodiment;
FIG. 9 is a schematic diagram of a positive-negative zero offset cancellation system of an incremental rotary encoder according to an embodiment.
Detailed Description
The invention discloses a positive and negative zero offset elimination method of an incremental rotary encoder, which comprises the following steps: and setting a Z 'phase opposite to the phase of the Z phase, and judging the zero position of the counter output through the rising edge of the output of the Z phase or the Z' phase so as to eliminate the positive and negative zero offset.
In this embodiment, the Z 'phase is formed by Z phase-connected inverters in the output phase of the encoder, and a new output signal Z' phase complementary to the Z phase is obtained as the new output signal, where the rising edge of the Z 'phase corresponds to the falling edge of the Z phase, the falling edge of the Z' phase corresponds to the rising edge of the Z phase, the high level of the Z 'phase corresponds to the low level of the Z phase, and the low level of the Z' phase corresponds to the high level of the Z phase, while the original Z phase output is retained. In this case, the incremental rotary encoder has four output signals, which are phase a, phase B, phase Z and phase Z'. In actual counting use, only one of the Z and Z' phases is read.
Specifically, the encoder may be various types of incremental rotary encoders with three-phase outputs or three-phase complementary outputs.
Specifically, the inverter may be a TTL inverter or a CMOS inverter.
Specifically, the processor may be various general and special processors capable of reading the output signal of the incremental encoder and processing the output signal of the incremental encoder.
As shown in fig. 6 and 7, there is provided a rotation angle counting method of an incremental rotary encoder, comprising the steps of:
setting a Z' phase opposite to the phase of the Z phase;
waiting for the output of the encoder;
when the rising edge of the Z phase or Z' phase output is received, the counter is set to zero;
when the rising edge of the phase A output is received, the level of the phase B output is judged;
when the B phase outputs high level, subtracting one from the rotating angle calculated by the counter, selecting the Z phase to judge the zero setting of the counter, closing the Z' phase, and when the Z phase outputs rising edge, setting the zero setting of the counter;
and when the B phase outputs low level, adding one to the rotating angle calculated by the counter, selecting the Z 'phase to judge the counter to be set to zero, closing the Z phase, and when the Z' phase outputs a rising edge, setting the counter to be zero.
Specifically, in this embodiment, the Z-phase inverter in the output phase of the encoder forms the Z 'phase, and as can be seen from fig. 7, the way of setting the zero of the encoder is determined according to the rising edge of the a phase and the high-low level of the Z phase in fig. 3, and the a phase is dedicated to the output rotation angle and the rotation direction, and the rising edge of the Z phase or the inverted signal Z' phase thereof is dedicated to the output zero. Since the zero position is judged by directly adopting the rising edges of the Z phase and the Z' phase instead of the original rising edge which depends on the A phase, the positive and negative zero offset is eliminated, as shown in figure 8.
Table 2 shows a logical truth table of a rotation angle counting method of an incremental rotary encoder in the embodiment, where ≠ in table 2, H denotes a high level, L denotes a low level, and x denotes an arbitrary state.
TABLE 2
Referring to fig. 9, in an embodiment of the present invention, there is further provided a positive and negative zero offset cancellation system of an incremental rotary encoder, comprising:
an encoder 100 for detecting a rotation angle;
an inverter 200, an input terminal of the inverter 200 being connected to the Z phase of the encoder 100, an output terminal of the inverter 200 being connected to the processor 300;
the processor 300 is further connected with the A, B, Z phase of the encoder 100, and is used for receiving the electric signal output by the encoder 100 and outputting a counting result of the rotation angle;
the power supply module 400 is connected with the encoder 100, the inverter 200 and the processor 300 respectively, and is used for supplying power to the encoder 100, the inverter 200 and the processor 300;
in the embodiment, the system for eliminating the positive and negative zero offset of the incremental rotary encoder adopts the rotating angle counting method of the incremental rotary encoder to count the rotating angle and output the zero position.
In the system of the embodiment, the power supply module adopts a DC power supply, an ohm dragon E6B2 series incremental rotary encoder is used as an encoder, a 74HC04 chip is used as an inverter, an STC12 series single chip microcomputer is used as an angle counter, and the flow of fig. 7 is written into a program and written into the single chip microcomputer.
A computer-readable storage medium on which a program is stored, characterized in that: the program when executed by the processor implements a method of positive and negative nulling cancellation for an incremental rotary encoder as described above.
A computer-readable storage medium on which a program is stored, characterized in that: the program is executed by a processor to implement the above-described method for counting the rotation angle of an incremental rotary encoder.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the system is divided into different functional units or modules to perform all or part of the above-mentioned functions.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (7)
1. A positive and negative zero offset elimination method of an incremental rotary encoder is characterized by comprising the following steps: and setting a Z 'phase opposite to the phase of the Z phase, and judging the zero position of the counter output through the rising edge of the output of the Z phase or the Z' phase so as to eliminate the positive and negative zero offset.
2. The method of claim 1, wherein the incremental rotary encoder further comprises: the Z phase connected inverter in the output phase of the encoder forms the Z' phase.
3. A rotation angle counting method of an incremental rotary encoder is characterized in that: the method comprises the following steps:
setting a Z' phase opposite to the phase of the Z phase;
waiting for the output of the encoder;
when the rising edge of the Z phase or Z' phase output is received, the counter is set to zero;
when the rising edge of the phase A output is received, the level of the phase B output is judged;
when the B phase outputs high level, subtracting one from the rotating angle calculated by the counter, selecting the Z phase to judge the zero setting of the counter, closing the Z' phase, and when the Z phase outputs rising edge, setting the zero setting of the counter;
and when the B phase outputs low level, adding one to the rotating angle calculated by the counter, selecting the Z 'phase to judge the counter to be set to zero, closing the Z phase, and when the Z' phase outputs a rising edge, setting the counter to be zero.
4. The rotation angle counting method of an incremental rotary encoder according to claim 3, wherein: the Z phase connected inverter in the output phase of the encoder forms the Z' phase.
5. A positive and negative zero offset elimination system of an incremental rotary encoder is characterized in that: comprises the following steps that:
an encoder for detecting a rotation angle;
an inverter having an input connected to the Z phase of the encoder and an output connected to a processor;
the processor is also connected with A, B, Z phase of the encoder and is used for receiving the electric signal output by the encoder and outputting the counting result of the rotation angle;
the power supply module is respectively connected with the encoder, the phase inverter and the processor and is used for supplying power to the encoder, the phase inverter and the processor;
the system for eliminating the positive and negative zero offset of the incremental rotary encoder adopts the rotation angle counting method of the incremental rotary encoder as claimed in claim 3 to count the rotation angle and output zero position.
6. A computer-readable storage medium on which a program is stored, characterized in that: the program when executed by a processor implements a positive-negative zero offset cancellation method for an incremental rotary encoder as recited in claim 1.
7. A computer-readable storage medium on which a program is stored, characterized in that: the program when executed by a processor implements a method of counting rotational angles of an incremental rotary encoder as claimed in claim 3.
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