CN113587957B - Special encoder for linear motor - Google Patents
Special encoder for linear motor Download PDFInfo
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- CN113587957B CN113587957B CN202110868687.0A CN202110868687A CN113587957B CN 113587957 B CN113587957 B CN 113587957B CN 202110868687 A CN202110868687 A CN 202110868687A CN 113587957 B CN113587957 B CN 113587957B
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- linear motor
- hall sensors
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- 238000006243 chemical reaction Methods 0.000 claims abstract description 20
- 238000000034 method Methods 0.000 claims description 5
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 3
- 239000003990 capacitor Substances 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 150000003071 polychlorinated biphenyls Chemical class 0.000 claims description 3
- 230000000087 stabilizing effect Effects 0.000 claims 1
- 238000003754 machining Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 10
- 238000009434 installation Methods 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 4
- 239000000428 dust Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- ZOXJGFHDIHLPTG-UHFFFAOYSA-N Boron Chemical compound [B] ZOXJGFHDIHLPTG-UHFFFAOYSA-N 0.000 description 1
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052796 boron Inorganic materials 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Chemical compound O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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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
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
- G01D5/2454—Encoders incorporating incremental and absolute signals
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Abstract
The invention provides a special encoder for a linear motor, which comprises a shell, wherein a PCB (printed circuit board) is arranged in the shell. The PCB is provided with a linear relative coding circuit, a UVW reversing signal acquisition circuit, a subdivision circuit, a first differential signal conversion circuit and a second differential signal conversion circuit. The linear relative coding circuit comprises 2 analog quantity linear Hall sensors, the UVW reversing signal acquisition circuit comprises 3 digital patch Hall sensors, the 2 analog quantity linear Hall sensors are distributed in gaps formed by the 3 digital patch Hall sensors, and the 5 Hall sensors are distributed on a straight line. The invention solves the problems of poor noise resistance, poor pollution resistance and mounting requirement of the finish machining precision surface of the traditional external encoder of the linear motor motion system, and simultaneously still ensures the resolution of 1um/count, and compared with the driving logic of the traditional incremental encoder, the invention has the advantages of more stability, reliability and accuracy.
Description
Technical Field
The invention relates to the technical field of linear motors, in particular to an encoder of a linear motor.
Background
The existing encoders applied to linear motors mainly comprise an optical linear encoder and a magnetic induction linear encoder. The optical linear encoder needs to install a linear grating on the special motor, reads an optical signal through a reading head of the encoder and converts the optical signal into position information to be output; the magnetic encoder needs to install a linear magnetic grid on the special motor, and then reads magnetic signals through a reading head of the encoder and converts the magnetic signals into position information to be output. The encoder of any type needs to additionally install a grating ruler (grating or magnetic grating) on the special motor, and has the defects of high cost, complex installation, difficult control of the error and the like.
In addition, the grating is easily affected by oil stain, dust and other environments, and is not suitable for being applied under severe working conditions. The anti-pollution capability of the magnetic grid is better, but the magnetic grid is easy to be magnetized by an external magnetic field, and particularly for a small linear motor, the installation position of a magnetic grid ruler is required to be far away from magnetic steel on the secondary inside the motor, and otherwise the magnetic grid is magnetized to cause the failure of an encoder.
In addition, the linear grating or the magnetic grating is an incremental line and cannot provide absolute positions, so that primary phase information in the motor cannot be provided when the linear grating or the magnetic grating is applied to the linear motor, primary large-amplitude position movement can occur when the linear motor is electrified for the first time and the primary large-amplitude position movement is not allowed in many application occasions.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a special encoder for a linear motor, which is a comprehensive encoder simultaneously provided with a Hall sensor matched with corresponding linear motor products and a linear motor stator (magnet and secondary) encoder. The invention is realized by the following technical scheme:
the encoder special for the linear motor comprises a shell, wherein a PCB (printed circuit board) is arranged in the shell, and a linear opposite coding circuit, a UVW reversing signal acquisition circuit, a subdivision circuit, a first differential signal conversion circuit and a second differential signal conversion circuit are arranged on the PCB; wherein,
The linear relative coding circuit is used for collecting magnetic field signals generated by the rotor in the motion process and converting the magnetic field signals into two paths of voltage signals with 90-degree phase difference;
the UVW reversing signal acquisition circuit is used for acquiring magnetic field intensity information of the stator and converting the magnetic field intensity information into a UVW reversing signal;
the subdivision circuit is used for subdividing the two paths of voltage signals by preset multiples to obtain two paths of orthogonal encoder signals;
The first differential signal conversion circuit is used for converting the two paths of voltage signals into coded pulse signals;
The second differential signal conversion circuit is used for converting the UVW reversing signal into a UVW differential pulse signal;
The linear opposite coding circuit, the subdivision circuit and the first differential signal conversion circuit are connected in sequence, and the UVW reversing signal acquisition circuit is connected with the second differential signal conversion circuit;
the linear relative coding circuit comprises 2 analog quantity linear Hall sensors, the UVW reversing signal acquisition circuit comprises 3 digital patch Hall sensors, the 2 analog quantity linear Hall sensors are distributed in gaps formed by the 3 digital patch Hall sensors, and the 5 Hall sensors are distributed on a straight line.
As a further improvement of the invention, the distance between the 2 analog quantity linear Hall sensors of the linear relative coding circuit is one quarter of the magnetic field period.
As a further improvement of the invention, the 3 digital patch Hall sensors of the UVW reversing signal acquisition circuit are separated by 1/6 of the pole pitch of the linear motor.
As a further improvement of the invention, a fixing piece for fixing the PCB board is also provided in the housing.
As a further development of the invention, the housing is surrounded by aluminum metal.
As a further improvement of the invention, the energy lines on the PCB are pulled up to limit the current resistance and stabilize the voltage capacity, so that the stability of the power-on function end is achieved; the energy is to the ground end pull-down current-limiting resistor and voltage-stabilizing capacitor.
As a further improvement of the invention, the signal communication between the PCBs adopts high-speed differential optocouplers IO.
As a further improvement of the invention, the encoder also comprises a hardware circuit with signal delay adjustment for delaying the output encoded pulse signal to counteract and adjust the hysteresis delay of the sensing.
The invention also provides a linear motor, which comprises a stator and a rotor moving relative to the stator, and is characterized by further comprising the special encoder for the linear motor, wherein the special encoder for the linear motor is fixed on one side of the rotor.
As a further improvement of the present invention, the installation distance between the bottom surface of the encoder dedicated for the linear motor and the top surface of the stator is 8mm±0.5mm.
The beneficial effects of the invention are as follows: the invention uses the linear magnetic coding technique to sense and analyze the magnetic field of the stator of the linear motor, and uses the stator as the encoder 'grating ruler', and the coded data is used for the data feedback of the relative position; the Hall sensor is added and is independently used as a basis of driving logic to support a driving algorithm of a bottom layer of the driver, so that the problem that the absolute error of relative coding causes out of control or the deviation of driving logic is overlarge is solved.
Drawings
FIG. 1 is a schematic circuit diagram of a linear motor specific encoder of the present invention;
FIG. 2 is a sensor gauge layout of the linear motor specific encoder of the present invention;
FIG. 3 (a) is a front view of a linear motor specific encoder and linear motor arrangement of the present invention;
FIG. 3 (b) is a left side view of the linear motor specific encoder and linear motor arrangement of the present invention;
FIG. 3 (c) is a top view of a linear motor specific encoder and linear motor arrangement of the present invention;
FIG. 4 is a 90A/B phase chordal waveform plot for an analog Hall sensor;
FIG. 5 is a schematic diagram of A/B Xiang Xianbo after a lissajous diagram change;
FIG. 6 is a circuit diagram of a corrective filter button for a sensing signal;
FIG. 7 is a waveform diagram of a coded pulse signal in forward motion;
FIG. 8 is a waveform diagram of a coded pulse signal in reverse motion;
FIG. 9 is a circuit diagram of a signal delay to adjust for the effects of sensing hysteresis;
FIG. 10 is a waveform diagram of a UVW differential pulse signal in forward motion;
Fig. 11 is a waveform diagram of UVW differential pulse signals in reverse motion.
Detailed Description
The invention is further described with reference to the following description of the drawings and detailed description.
The invention relates to a special encoder for a linear motor, which is also called as a digital servo encoder (DSE, digital Servo Encoder), and comprises a shell, and a PCB (printed circuit board) arranged in the shell, wherein a linear relative encoding circuit, a UVW reversing signal acquisition circuit, a subdivision circuit, a first differential signal conversion circuit and a second differential signal conversion circuit are arranged on the PCB. The schematic diagram of which is shown in figure 1.
The linear relative coding circuit is used for collecting magnetic field signals generated by the rotor in the motion process and converting the magnetic field signals into two paths of voltage signals with 90-degree phase difference. The UVW reversing signal acquisition circuit is used for acquiring magnetic field intensity information of the stator and converting the magnetic field intensity information into UVW reversing signals. The subdivision circuit is used for subdividing the two paths of voltage signals by preset multiples to obtain two paths of orthogonal encoder signals. The first differential signal conversion circuit is used for converting the two paths of voltage signals into coded pulse signals. The second differential signal conversion circuit is used for converting the UVW reversing signal into a UVW differential pulse signal. The linear relative coding circuit, the subdivision circuit and the first differential signal conversion circuit are connected in sequence, and the UVW reversing signal acquisition circuit is connected with the second differential signal conversion circuit.
As shown in fig. 2, the linear relative encoder circuit includes 2 analog linear hall sensors (2-1, 2-2), and the UVW commutation signal acquisition circuit includes 3 digital patch hall sensors (1-1, 1-2, 1-3). The 2 analog quantity linear Hall sensors are distributed in gaps formed by the 3 digital patch Hall sensors, and the 5 Hall sensors are distributed on a straight line.
As shown in fig. 3 (a) - (c), the encoder of the present invention requires the sensing surface to be 8mm±0.5mm from the object to be measured (linear motor stator) for installation. The screw is locked and attached to the front and rear ends (the direction of the power line) of the linear motor rotor. The specific sensing arrangement spacing accords with the magnetic field Gaussian intensity sensing range of the specific sensor.
And 2 analog quantity linear Hall sensors are distributed in 1/4 period of the object to be detected, so that the SIN/COS sine wave model of the A/B phase shown in figure 3 is obtained. The mounting height of the sensor and the object to be measured (stator) is set according to the magneto-electric sensing characteristic (the range of the sensing magnetic flux gauss value) of the sensor.
A/B Xiang Xianbo was subjected vertically to a Lissajous Figure (Lissajous-Figure) change, as shown in FIG. 5. And carrying out electronic subdivision according to specific arc angle information of the circular period of the Lissajous figure and the change trend (sine wave phase change) of the previous moment.
X= Msin (k×t), y=mcos (k×t). 48M of boron permanent magnet ensures the consistency of X, Y and the coefficient (sine wave coefficient of M and K) between themselves, so that the integer ratio of the Lissajous pattern is 1 and is close to an ideal circumference. And meanwhile, a correction filter button (3) of the sensing signal is arranged, so that the stability of the original signal of the encoder is ensured, and the correction filter button of the sensing signal is shown in fig. 6.
The arc angle of the ideal circumference is subdivided by a factor of P by 10 3 (P is the magnetic pole distance corresponding to the linear motor), so that the resolution of the encoder reaches 1 micron per pulse of unit output. The 90-degree phase difference AB pulse signal is obtained and is changed into a TTL square wave pulse signal (DSE coding pulse signal) conforming to 422 and 485 protocols through a high-speed differential chip, as shown in fig. 7 and 8. Wherein, the upper limit of the signal is more than or equal to 5Mhz.
Meanwhile, the encoder also has a hardware circuit for signal delay adjustment as shown in figure 9 for the output signals of the encoder + -A and B TTL signals so as to resist and adjust the effect of the hysteresis effect delay signals of the sensing.
1 Digital patch hall sensors are arranged at intervals of 1/6 magnetic pole distance (60-degree magnetic period) of the corresponding linear motor, three digital patch hall sensors are arranged, and corresponding magnetic field intensity information of a stator of the linear motor is sensed, so that a UVW TTL pulse signal is formed. The ±uvw differential pulse signals shown in fig. 10 and 11 are output through the high-speed differential chip.
As a further improvement of the invention, all energy lines on the PCB are pulled up to limit the current resistance and stabilize the voltage capacity, so as to achieve the stability of the power-on function end; the energy is to the ground end pull-down current-limiting resistor and voltage-stabilizing capacitor. And the signal communication between the PCBs adopts high-speed differential optocouplers IO. The cable wires are twisted by two pairs, and the high-toughness fiber cores, the high-strength rubber and the built-in interweaving shielding layers are adopted. The battery core is silver-plated copper wire, so that low-wire-diameter low-impedance (0.12 mm wire diameter) is realized. The encoder shell is surrounded by aluminum metal, and absorbs high-frequency alternating current electromagnetic interference and electric leakage breakdown.
The invention solves the problems of poor noise resistance, poor pollution resistance (dust, magnetic dust, water vapor, oil stain, liquid and the like) and the mounting requirement of the traditional external encoder (grating or magnetic grating) of the linear motor motion system, and simultaneously still ensures the resolution of 1um/count, and compared with the driving logic (electric phase initialization) of the traditional incremental encoder, the invention is more stable, reliable and accurate.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes using the descriptions and drawings of the present invention or directly or indirectly applied to other related technical fields are included in the scope of the invention. It will be apparent to those skilled in the art that several simple deductions or substitutions may be made without departing from the spirit of the invention, and are to be considered as falling within the scope of the invention.
Claims (10)
1. The utility model provides a special encoder of linear electric motor, the encoder includes the casing, is provided with PCB board, its characterized in that in the casing: the PCB is provided with a linear relative coding circuit, a UVW reversing signal acquisition circuit, a subdivision circuit, a first differential signal conversion circuit and a second differential signal conversion circuit; wherein,
The linear relative coding circuit is used for collecting magnetic field signals generated by the rotor in the motion process and converting the magnetic field signals into two paths of voltage signals with 90-degree phase difference;
the UVW reversing signal acquisition circuit is used for acquiring magnetic field intensity information of the stator and converting the magnetic field intensity information into a UVW reversing signal;
the subdivision circuit is used for subdividing the two paths of voltage signals by preset multiples to obtain two paths of orthogonal encoder signals;
The first differential signal conversion circuit is used for converting the two paths of voltage signals into coded pulse signals;
The second differential signal conversion circuit is used for converting the UVW reversing signal into a UVW differential pulse signal;
The linear opposite coding circuit, the subdivision circuit and the first differential signal conversion circuit are connected in sequence, and the UVW reversing signal acquisition circuit is connected with the second differential signal conversion circuit;
The linear relative coding circuit comprises 2 analog quantity linear Hall sensors, the UVW reversing signal acquisition circuit comprises 3 digital patch Hall sensors, the 2 analog quantity linear Hall sensors are distributed in gaps formed by the 3 digital patch Hall sensors, and the 2 analog quantity linear Hall sensors and the 3 digital patch Hall sensors are distributed on a straight line.
2. The encoder for a linear motor of claim 1, wherein the 2 analog linear hall sensors of the linear counter-encoder circuit are spaced apart by a quarter of a magnetic field period.
3. The encoder for a linear motor of claim 1, wherein the 3 digital patch hall sensors of the UVW commutation signal acquisition circuit are separated by 1/6 of the pole pitch of the linear motor.
4. The encoder special for the linear motor according to claim 1, wherein a fixing member for fixing the PCB board is further provided in the housing.
5. The linear motor specific encoder of claim 1, wherein the housing is surrounded by aluminum metal.
6. The special encoder for the linear motor according to claim 1, wherein the energy lines on the PCB are respectively pulled up to limit current resistance and voltage stabilizing capacitance, so that the stability of a power-in function end is achieved; the energy is to the ground end pull-down current-limiting resistor and voltage-stabilizing capacitor.
7. The encoder special for the linear motor according to claim 1, wherein the signal communication between the PCBs adopts high-speed differential optocouplers IO.
8. The linear motor specific encoder of claim 1, further comprising a hardware circuit with signal delay adjustment for delaying the output encoded pulse signal to counter, adjust the sensed hysteresis delay.
9. The linear motor comprises a stator and a rotor which moves relative to the stator, and is characterized by further comprising the special encoder for the linear motor, wherein the special encoder for the linear motor is fixed on one side of the rotor.
10. The linear motor of claim 9, wherein a mounting distance between a bottom surface of the linear motor-specific encoder and a top surface of the stator is 8mm ± 0.5mm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110868687.0A CN113587957B (en) | 2021-07-30 | 2021-07-30 | Special encoder for linear motor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110868687.0A CN113587957B (en) | 2021-07-30 | 2021-07-30 | Special encoder for linear motor |
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| CN113587957A CN113587957A (en) | 2021-11-02 |
| CN113587957B true CN113587957B (en) | 2024-06-11 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102818581A (en) * | 2012-07-12 | 2012-12-12 | 武汉迈信电气技术有限公司 | Incremental encoder based on rotary transformer |
| CN106849520A (en) * | 2016-11-29 | 2017-06-13 | 广东德康威尔科技有限公司 | A kind of linear electric motors track encoder, linear electric motors and its method for detecting position |
| CN109831073A (en) * | 2019-01-29 | 2019-05-31 | 苏州灵猴机器人有限公司 | A kind of linear motor position feedback device |
| CN111600446A (en) * | 2020-06-08 | 2020-08-28 | 万图机器人(宁波)有限公司 | Encoder for linear motor, linear motor and position detection method of linear motor |
| CN111795710A (en) * | 2020-07-09 | 2020-10-20 | 赛卓微电子(深圳)有限公司 | Method for outputting UVW signal in incremental encoder IC |
| CN112066863A (en) * | 2020-11-10 | 2020-12-11 | 中国科学院宁波材料技术与工程研究所 | Moving-coil linear motor position calibration device and method |
-
2021
- 2021-07-30 CN CN202110868687.0A patent/CN113587957B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102818581A (en) * | 2012-07-12 | 2012-12-12 | 武汉迈信电气技术有限公司 | Incremental encoder based on rotary transformer |
| CN106849520A (en) * | 2016-11-29 | 2017-06-13 | 广东德康威尔科技有限公司 | A kind of linear electric motors track encoder, linear electric motors and its method for detecting position |
| CN109831073A (en) * | 2019-01-29 | 2019-05-31 | 苏州灵猴机器人有限公司 | A kind of linear motor position feedback device |
| CN111600446A (en) * | 2020-06-08 | 2020-08-28 | 万图机器人(宁波)有限公司 | Encoder for linear motor, linear motor and position detection method of linear motor |
| CN111795710A (en) * | 2020-07-09 | 2020-10-20 | 赛卓微电子(深圳)有限公司 | Method for outputting UVW signal in incremental encoder IC |
| CN112066863A (en) * | 2020-11-10 | 2020-12-11 | 中国科学院宁波材料技术与工程研究所 | Moving-coil linear motor position calibration device and method |
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