CN113847935A - Position determination method and device of hybrid encoder - Google Patents
Position determination method and device of hybrid encoder Download PDFInfo
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- G—PHYSICS
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- 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
- G01D5/142—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 using Hall-effect devices
- G01D5/147—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 using Hall-effect devices influenced by the movement of a third element, the position of Hall device and the source of magnetic field being fixed in respect to each other
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- G01D5/26—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
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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
- G01D5/54—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 means specified in two or more of groups G01D5/02, G01D5/12, G01D5/26, G01D5/42, and G01D5/48
- G01D5/56—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 means specified in two or more of groups G01D5/02, G01D5/12, G01D5/26, G01D5/42, and G01D5/48 using electric or magnetic means
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- G—PHYSICS
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- 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
- G01D5/54—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 means specified in two or more of groups G01D5/02, G01D5/12, G01D5/26, G01D5/42, and G01D5/48
- G01D5/58—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 means specified in two or more of groups G01D5/02, G01D5/12, G01D5/26, G01D5/42, and G01D5/48 using optical means, i.e. using infrared, visible or ultraviolet light
Abstract
The application discloses a position determining method and device of a hybrid encoder. Wherein, the method comprises the following steps: determining a first absolute position of the hybrid encoder at the current moment at least according to a first electric signal output by at least one first magnetic induction chip in the hybrid encoder; determining the relative position of the hybrid encoder at the current moment according to a second electric signal output by at least one light sensing chip in the hybrid encoder; a second absolute position of the hybrid encoder at the current time is determined as a function of the first absolute position and the relative position. The application solves the technical problems that the existing optomagnetic hybrid encoder needs to adopt two magnetic induction chips, the signal processing is complex and the efficiency is low.
Description
Technical Field
The present application relates to the field of encoder technologies, and in particular, to a position determination method and apparatus for a hybrid encoder.
Background
The photoelectric encoder is a sensor which is mainly used for measuring displacement or angle and has the advantages of high measurement precision, easy pollution and poor anti-interference capability; the magneto-electric encoder adopts a magneto-electric design, generates a changed electric signal through a magnetic induction device and the change of a magnetic field, provides an absolute position of a rotor by using the changed electric signal, replaces a traditional coded disc by using a magnetic device, makes up the defect of the photoelectric encoder, and has the advantages of shock resistance, corrosion resistance, pollution resistance, high reliability and simpler structure.
In order to meet the requirements of high precision and pollution resistance in the use of encoders, a hybrid optomagnetic encoder is proposed in the related art, wherein two kinds of magnetic-sensing chips are required to determine the absolute position of the encoder, and the signal processing process is relatively complex and relatively inefficient.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the application provides a position determining method and a position determining device for a hybrid encoder, and the technical problems that an existing magneto-optical hybrid encoder needs two magnetic induction chips, signal processing is complex and efficiency is low are at least solved.
According to an aspect of an embodiment of the present application, there is provided a position determining method of a hybrid encoder, including: determining a first absolute position of the hybrid encoder at the current moment at least according to a first electric signal output by at least one first magnetic induction chip in the hybrid encoder, wherein the first electric signal comprises: the first magnetic induction chip outputs at least one sine and cosine signal group when a rotor of the hybrid encoder rotates for every circle, the sine and cosine signal group comprises sine signals with M periods and cosine signals with M periods, and M is a positive integer; or, the first magnetic induction chip outputs at least one period of digital signals, or at least one PWM signal that varies with the angle position period, or at least two periods of triangular wave signals, or at least four periods of trapezoidal wave signals; determining the relative position of the hybrid encoder at the current moment according to a second electric signal output by at least one photo-sensing chip in the hybrid encoder, wherein the second electric signal comprises: the light-sensing chip outputs at least one square wave signal group or at least one sine and cosine signal group when a rotor of the hybrid encoder rotates for one circle, wherein the square wave signal group comprises K periods of first square wave signals and K periods of second square wave signals, K is a positive integer, the sine and cosine signal group comprises N periods of sine signals and N periods of cosine signals, and N is a positive integer; and determining a second absolute position of the hybrid encoder at the current moment according to the first absolute position and the relative position.
Optionally, the number of turns of the hybrid encoder at the current moment is determined according to a third electrical signal output by a second magnetic induction chip or the at least one first magnetic induction chip in the hybrid encoder; or, determining the number of turns of the hybrid encoder at the current moment according to the Z pulse signal in the second electrical signal output by the at least one photo sensing chip.
Optionally, detecting whether the voltage amplitudes of the sine signal and the cosine signal in the sine and cosine signal group are within a preset range; when the voltage amplitudes of the sine signal and the cosine signal are within the preset range, determining a second absolute position of the hybrid encoder at the current moment according to the first absolute position and the relative position; and when the voltage amplitudes of the sine signal and the cosine signal are not in the preset range, generating alarm information, wherein the alarm information is used for prompting that the first magnetic induction chip is abnormal.
Optionally, the square wave signal group is accumulated to obtain a relative position count value, and the relative position of the hybrid encoder at the current time is determined according to the relative position count value, wherein in K periods of first square wave signals and K periods of second square wave signals in the square wave signal group, a phase difference between the first square wave signals and the second square wave signals in the same period is 90 degrees.
Optionally, the first absolute position is determined according to the sine and cosine absolute positions of the sine and cosine signal group and the turn number value corresponding to the Z pulse signal in the second electrical signal.
According to another aspect of the embodiments of the present application, there is also provided a position determining apparatus of a hybrid encoder, including: the first determining module is configured to determine a first absolute position of the hybrid encoder at a current moment according to at least a first electrical signal output by at least one first magnetic induction chip in the hybrid encoder, where the first electrical signal includes: the first magnetic induction chip outputs at least one sine and cosine signal group when a rotor of the hybrid encoder rotates for every circle, the sine and cosine signal group comprises sine signals with M periods and cosine signals with M periods, and M is a positive integer; or, the first magnetic induction chip outputs at least one period of digital signals, or at least one PWM signal that varies with the angle position period, or at least two periods of triangular wave signals, or at least four periods of trapezoidal wave signals; a second determining module, configured to determine a current relative position of the hybrid encoder according to a second electrical signal output by at least one photo-sensing chip in the hybrid encoder, where the second electrical signal includes: the light-sensing chip outputs at least one square wave signal group or at least one sine and cosine signal group when a rotor of the hybrid encoder rotates for one circle, wherein the square wave signal group comprises K periods of first square wave signals and K periods of second square wave signals, K is a positive integer, the sine and cosine signal group comprises N periods of sine signals and N periods of cosine signals, and N is a positive integer; and the third determining module is used for determining a second absolute position of the hybrid encoder at the current moment according to the first absolute position and the relative position.
Optionally, the apparatus further comprises: the fourth determining module is used for determining the turn number value of the hybrid encoder at the current moment according to a third electric signal output by a second magnetic induction chip or at least one first magnetic induction chip in the hybrid encoder; or, determining the number of turns of the hybrid encoder at the current moment according to the Z pulse signal in the second electrical signal output by the at least one photo sensing chip.
Optionally, the apparatus further comprises: the detection module is used for detecting whether the voltage amplitude values of the sine signal and the cosine signal in the sine and cosine signal group are within a preset range, wherein when the voltage amplitude values of the sine signal and the cosine signal are not within the preset range, alarm information is generated and used for prompting that the first magnetic induction chip is abnormal.
According to another aspect of the embodiments of the present application, there is also provided a hybrid encoder, wherein the hybrid encoder includes the position determination apparatus of the hybrid encoder described above.
According to another aspect of the embodiments of the present application, there is also provided a motor, wherein the hybrid encoder is included in the motor.
In the embodiment of the application, a first absolute position of the hybrid encoder at the current moment is determined according to a first electric signal output by at least one first magnetic induction chip in the hybrid encoder, then a relative position of the hybrid encoder at the current moment is determined according to a second electric signal output by at least one light induction chip in the hybrid encoder, and then a second absolute position of the hybrid encoder at the current moment is determined according to the first absolute position and the relative position. Wherein, first magnetic induction chip can export at least one sine and cosine signal group when the rotor of hybrid encoder is every rotatory a week, and the sine and cosine signal group includes the sine signal of M periods and the cosine signal of M periods (M is the positive integer), can confirm the first absolute position of hybrid encoder current moment through this sine and cosine signal group, and this process only need use a magnetic induction chip to solved current optomagnetic hybrid encoder and need adopted two magnetic induction chips, the signal processing is complicated and the lower technical problem of efficiency.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a flow chart illustrating a method for determining a position of a hybrid encoder according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a set of sine and cosine signals in a first electrical signal according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a set of square wave signals in a second electrical signal according to an embodiment of the present application;
FIG. 4 is a schematic illustration of a Z pulse signal in a second electrical signal according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a position determining apparatus of a hybrid encoder according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. 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 application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
In accordance with an embodiment of the present application, there is provided an embodiment of a position determination method for a hybrid encoder, where it is noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than here.
Fig. 1 is a position determination method of a hybrid encoder according to an embodiment of the present application, as shown in fig. 1, the method including the steps of:
step S102, determining a first absolute position of the hybrid encoder at the current moment at least according to a first electric signal output by at least one first magnetic induction chip in the hybrid encoder.
And step S104, determining the relative position of the hybrid encoder at the current moment according to the second electric signal output by at least one optical sensing chip in the hybrid encoder.
And step S106, determining a second absolute position of the hybrid encoder at the current moment according to the first absolute position and the relative position.
In some optional embodiments of the present application, the first magnetic induction chip is preferably a TMR (tunneling Magneto Resistance) chip. The first electrical signal mainly includes: the first magnetic induction chip outputs at least one sine and cosine signal group when a rotor of the hybrid encoder rotates for one cycle, wherein the sine and cosine signal group comprises sine signals with M periods and cosine signals with M periods, and M is a positive integer. Optionally, the first electrical signal may also be at least one period of digital signal output by the first magnetic induction chip, or at least one PWM signal that varies with the angular position period, or at least two periods of triangular wave signal, or at least four periods of trapezoidal wave signal.
Taking the output sine and cosine signal group as an example, assuming that the sine and cosine signal group includes a periodic sine signal and a periodic cosine signal, as shown in fig. 2, the phase difference between the sine signal and the cosine signal is 90 °, and as the rotor of the hybrid encoder rotates to any point, the values of the sine signal and the cosine signal output by the first magnetic induction chip are determined, and the first absolute position of the hybrid encoder at the current time can be determined directly according to the sine and cosine absolute position of the sine and cosine signal group. Alternatively, when the sine and cosine signal groups include sine signals and cosine signals of multiple periods, in addition to determining the values of the current sine signal and cosine signal, the number of periods in which the current sine signal and cosine signal are located needs to be determined, so as to determine an accurate sine and cosine absolute position.
The light sensing chip may employ a common light sensor, and the second electrical signal output by the light sensing chip generally includes: the optical sensing chip outputs at least one square wave signal group or at least one sine and cosine signal group when a rotor of the hybrid encoder rotates for each circle, wherein the square wave signal group comprises K periodic first square wave signals and K periodic second square wave signals, K is a positive integer, the sine and cosine signal group comprises N periodic sine signals and N periodic cosine signals, and N is a positive integer.
Taking the output square wave signal group as an example, the frequencies of the first square wave signal and the second square wave signal in the square wave signal group are generally proportional to the rotation speed of the code wheel of the hybrid encoder, and it is assumed that the square wave signal group includes 2 periods of the first square wave signal and 2 periods of the second square wave signal, as shown in fig. 3, wherein the phase difference between the first square wave signal and the second square wave signal in the same period is 90 degrees. And obtaining a relative position count value by accumulating the first square wave signal and the second square wave signal in the square wave signal group, and then determining the relative position of the hybrid encoder at the current moment according to the relative position count value.
In some optional embodiments of the present application, the value of the second electric signal output by the second magnetic induction chip or the at least one first magnetic induction chip in the hybrid encoder may be determined according to the current time of the hybrid encoder, where the third electric signal may be the above-mentioned sine and cosine signal group or the above-mentioned square wave signal group. Alternatively, the value of the number of turns of the hybrid encoder at the current moment may also be determined according to the Z pulse signal in the second electrical signal output by the at least one photo sensor chip, and typically, the photo sensor chip outputs a Z pulse signal every time the code wheel of the hybrid encoder rotates one cycle, as shown in fig. 4, and the value of the number of turns of the hybrid encoder can be obtained by accumulating the Z pulse signals.
After the circle number value of the hybrid encoder is obtained, the first absolute position of the hybrid encoder at the current moment can be determined according to the sine and cosine absolute position of the sine and cosine signal group and the circle number value of the hybrid encoder.
Considering that the magnetic induction chip may have an abnormality during the operation of the hybrid encoder, in order to ensure the accuracy of the finally determined second absolute position of the hybrid encoder, the magnetic induction chip may be self-checked. Specifically, whether the voltage amplitudes of sine signals and cosine signals in a sine and cosine signal group in a first electric signal output by a first magnetic induction chip are in a preset range or not can be detected; when the voltage amplitudes of the sine signal and the cosine signal are within the preset range, the first electric signal output by the first magnetic induction chip is reliable, the determined first absolute position is reliable, and the second absolute position of the hybrid encoder at the current moment can be determined according to the first absolute position and the relative position; when the voltage amplitudes of the sine signal and the cosine signal are not in the preset range, it is indicated that the first electric signal output by the first magnetic induction chip is unreliable, and at this time, alarm information needs to be generated, wherein the alarm information is used for prompting that the first magnetic induction chip is abnormal.
Optionally, after the self-inspection of the magnetic induction chip is completed, the self-inspection of the optical induction chip can be performed. After determining that the first absolute position is reliable, a difference between the first absolute position and the relative position may be determined; when the difference is smaller than the preset threshold, it is indicated that the relative position determined according to the second electrical signal is also reliable, and at this time, a second absolute position of the hybrid encoder at the current moment can be determined according to the first absolute position and the relative position; when the difference is greater than the preset threshold, it indicates that the relative position determined according to the second electrical signal is unreliable, and at this time, an alarm message needs to be generated, where the alarm message is used to prompt that the optical sensing chip is abnormal, and in this case, the second absolute position of the hybrid encoder at the current moment can be directly determined according to the first absolute position. The preset threshold value can be set by a user according to the requirement on the position precision of the hybrid encoder.
As can be seen from fig. 4, the position of a single turn of the hybrid encoder corresponding to the Z pulse signal output by the photo sensing chip is fixed, and therefore, in some alternative embodiments of the present application, each time the rotor of the hybrid encoder rotates for one revolution, the absolute position of the single turn determined by the first electrical signal in the same rotating shaft region may be verified according to the relative position of the single turn determined by the Z pulse signal, so as to improve the accuracy of the absolute position.
Specifically, the target area where the rotating shaft is located when the Z pulse signal in the second electrical signal is obtained may be determined first, then the single-turn relative position of the rotating shaft in the target area may be determined according to the second electrical signal, the single-turn absolute position of the rotating shaft in the target area may be determined according to the first electrical signal, and then the single-turn absolute position may be verified according to the single-turn relative position, so that the accuracy of the obtained absolute position of the hybrid encoder is higher.
In the embodiment of the application, a first absolute position of the hybrid encoder at the current moment is determined according to a first electric signal output by at least one first magnetic induction chip in the hybrid encoder, then a relative position of the hybrid encoder at the current moment is determined according to a second electric signal output by at least one light induction chip in the hybrid encoder, and then a second absolute position of the hybrid encoder at the current moment is determined according to the first absolute position and the relative position. Wherein, first magnetic induction chip can export at least one sine and cosine signal group when the rotor of hybrid encoder is every rotatory a week, and the sine and cosine signal group includes the sine signal of M periods and the cosine signal of M periods (M is the positive integer), can confirm the first absolute position of hybrid encoder current moment through this sine and cosine signal group, and this scheme only need use a magnetic induction chip to solved current optomagnetic hybrid encoder and need adopted two magnetic induction chips, the signal processing is complicated and the lower technical problem of efficiency.
Example 2
According to an embodiment of the present application, there is also provided a position determining apparatus of a hybrid encoder for implementing the position determining method of the hybrid encoder, as shown in fig. 5, the apparatus includes a first determining module 50, a second determining module 52 and a third determining module 54, wherein:
the first determining module 50 is configured to determine a first absolute position of the hybrid encoder at a current moment according to at least a first electrical signal output by at least one first magnetic induction chip in the hybrid encoder, where the first electrical signal includes: the first magnetic induction chip outputs at least one sine and cosine signal group when a rotor of the hybrid encoder rotates for one cycle, the sine and cosine signal group comprises sine signals with M periods and cosine signals with M periods, and M is a positive integer; or at least one period of digital signals output by the first magnetic induction chip, or at least one PWM signal which changes with the angle position period, or at least two periods of triangular wave signals, or at least four periods of trapezoidal wave signals.
A second determining module 52, configured to determine a current relative position of the hybrid encoder according to a second electrical signal output by at least one photo-sensing chip in the hybrid encoder, where the second electrical signal includes: the optical sensing chip outputs at least one square wave signal group or at least one sine and cosine signal group when a rotor of the hybrid encoder rotates for each circle, wherein the square wave signal group comprises K periodic first square wave signals and K periodic second square wave signals, K is a positive integer, the sine and cosine signal group comprises N periodic sine signals and N periodic cosine signals, and N is a positive integer.
Taking the output sine and cosine signal group as an example, assuming that the sine and cosine signal group includes a periodic sine signal and a periodic cosine signal, as shown in fig. 2, the phase difference between the sine signal and the cosine signal is 90 °, and as the rotor of the hybrid encoder rotates to any point, the values of the sine signal and the cosine signal output by the first magnetic induction chip are determined, and the first absolute position of the hybrid encoder at the current time can be determined directly according to the sine and cosine absolute position of the sine and cosine signal group. Alternatively, when the sine and cosine signal groups include sine signals and cosine signals of multiple periods, in addition to determining the values of the current sine signal and cosine signal, the number of periods in which the current sine signal and cosine signal are located needs to be determined, so as to determine an accurate sine and cosine absolute position.
Taking the output square wave signal group as an example, the frequencies of the first square wave signal and the second square wave signal in the square wave signal group are generally proportional to the rotation speed of the code wheel of the hybrid encoder, and it is assumed that the square wave signal group includes 2 periods of the first square wave signal and 2 periods of the second square wave signal, as shown in fig. 3, wherein the phase difference between the first square wave signal and the second square wave signal in the same period is 90 degrees. And obtaining a relative position count value by accumulating the first square wave signal and the second square wave signal in the square wave signal group, and then determining the relative position of the hybrid encoder at the current moment according to the relative position count value.
A third determining module 54, configured to determine a second absolute position of the hybrid encoder at the current time according to the first absolute position and the relative position.
Optionally, the position determining apparatus of the hybrid encoder in the embodiment of the present application further includes a fourth determining module, configured to determine a number of turns of the hybrid encoder at the current time according to a third electrical signal output by the second magnetic induction chip or the at least one first magnetic induction chip in the hybrid encoder; or, determining the number of turns of the hybrid encoder at the current moment according to the Z pulse signal in the second electrical signal output by the at least one photo sensing chip.
Specifically, the circled value of the hybrid encoder at the current time may be determined according to a third electrical signal output by the second magnetic induction chip or the at least one first magnetic induction chip in the hybrid encoder, where the third electrical signal may be the above-mentioned sine and cosine signal group or square wave signal group, etc. Alternatively, the value of the number of turns of the hybrid encoder at the current moment may also be determined according to the Z pulse signal in the second electrical signal output by the at least one photo sensor chip, and typically, the photo sensor chip outputs a Z pulse signal every time the code wheel of the hybrid encoder rotates one cycle, as shown in fig. 4, and the value of the number of turns of the hybrid encoder can be obtained by accumulating the Z pulse signals.
After the circle number value of the hybrid encoder is obtained, the first absolute position of the hybrid encoder at the current moment can be determined according to the sine and cosine absolute position of the sine and cosine signal group and the circle number value of the hybrid encoder.
Optionally, the position determining apparatus of the hybrid encoder in this embodiment of the application further includes a detection module, configured to detect whether voltage amplitudes of the sine signal and the cosine signal in the sine and cosine signal set are within a preset range, where when the voltage amplitudes of the sine signal and the cosine signal are not within the preset range, alarm information is generated, and the alarm information is used to prompt that the first magnetic induction chip is abnormal.
Considering that the magnetic induction chip may have an abnormality during the operation of the hybrid encoder, in order to ensure the accuracy of the finally determined second absolute position of the hybrid encoder, the magnetic induction chip may be self-checked. Specifically, whether the voltage amplitudes of sine signals and cosine signals in a sine and cosine signal group in a first electric signal output by a first magnetic induction chip are in a preset range or not can be detected; when the voltage amplitudes of the sine signal and the cosine signal are within the preset range, the first electric signal output by the first magnetic induction chip is reliable, the determined first absolute position is reliable, and the second absolute position of the hybrid encoder at the current moment can be determined according to the first absolute position and the relative position; when the voltage amplitudes of the sine signal and the cosine signal are not in the preset range, it is indicated that the first electric signal output by the first magnetic induction chip is unreliable, and at this time, alarm information needs to be generated, wherein the alarm information is used for prompting that the first magnetic induction chip is abnormal.
Optionally, after the self-inspection of the magnetic induction chip is completed, the self-inspection of the optical induction chip can be performed. After determining that the first absolute position is reliable, a difference between the first absolute position and the relative position may be determined; when the difference is smaller than the preset threshold, it is indicated that the relative position determined according to the second electrical signal is also reliable, and at this time, a second absolute position of the hybrid encoder at the current moment can be determined according to the first absolute position and the relative position; when the difference is greater than the preset threshold, it indicates that the relative position determined according to the second electrical signal is unreliable, and at this time, an alarm message needs to be generated, where the alarm message is used to prompt that the optical sensing chip is abnormal, and in this case, the second absolute position of the hybrid encoder at the current moment can be directly determined according to the first absolute position. The preset threshold value can be set by a user according to the requirement on the position precision of the hybrid encoder.
As can be seen from fig. 4, the position of a single turn of the hybrid encoder corresponding to the Z pulse signal output by the photo sensing chip is fixed, and therefore, in some alternative embodiments of the present application, each time the rotor of the hybrid encoder rotates for one revolution, the absolute position of the single turn determined by the first electrical signal in the same rotating shaft region may be verified according to the relative position of the single turn determined by the Z pulse signal, so as to improve the accuracy of the absolute position.
Specifically, the target area where the rotating shaft is located when the Z pulse signal in the second electrical signal is obtained may be determined first, then the single-turn relative position of the rotating shaft in the target area may be determined according to the second electrical signal, the single-turn absolute position of the rotating shaft in the target area may be determined according to the first electrical signal, and then the single-turn absolute position may be verified according to the single-turn relative position, so that the accuracy of the obtained absolute position of the hybrid encoder is higher.
It should be noted that, in the embodiment of the present application, each module in the position determining device of the hybrid encoder corresponds to an implementation step of the position determining method of the hybrid encoder in embodiment 1 one to one, and since the detailed description has been already made in embodiment 1, details that are not partially embodied in this embodiment may refer to embodiment 1, and are not described herein again.
Example 3
According to an embodiment of the present application, there is also provided a nonvolatile storage medium including a stored program, wherein a device in which the nonvolatile storage medium is located is controlled to execute the position determination method of the hybrid encoder in embodiment 1 when the program is executed.
Specifically, the device in which the nonvolatile storage medium is controlled to execute the following steps when the program runs: determining a first absolute position of the hybrid encoder at the current moment at least according to a first electric signal output by at least one first magnetic induction chip in the hybrid encoder, wherein the first electric signal comprises: the first magnetic induction chip outputs at least one sine and cosine signal group when a rotor of the hybrid encoder rotates for one cycle, the sine and cosine signal group comprises sine signals with M periods and cosine signals with M periods, and M is a positive integer; or, at least one period of digital signals output by the first magnetic induction chip, or at least one PWM signal which changes with the angle position period, or at least two periods of triangular wave signals, or at least four periods of trapezoidal wave signals; determining the relative position of the hybrid encoder at the current moment according to a second electric signal output by at least one photo-sensing chip in the hybrid encoder, wherein the second electric signal comprises: the optical sensing chip outputs at least one square wave signal group or at least one sine and cosine signal group when a rotor of the hybrid encoder rotates for every circle, wherein the square wave signal group comprises K periodic first square wave signals and K periodic second square wave signals, K is a positive integer, the sine and cosine signal group comprises N periodic sine signals and N periodic cosine signals, and N is a positive integer; a second absolute position of the hybrid encoder at the current time is determined as a function of the first absolute position and the relative position.
According to an embodiment of the present application, there is also provided a hybrid encoder, wherein the hybrid encoder includes the position determination apparatus of the hybrid encoder in embodiment 2.
According to the embodiment of the application, a motor is further provided, wherein the hybrid encoder is included in the motor.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present application, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, a division of a unit may be a division of a logic function, and an actual implementation may have another division, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or may not be executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method of the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present application and it should be noted that those skilled in the art can make several improvements and modifications without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.
Claims (10)
1. A method of position determination for a hybrid encoder, the method comprising:
determining a first absolute position of the hybrid encoder at the current moment according to at least a first electric signal output by at least one first magnetic induction chip in the hybrid encoder,
wherein the first electrical signal comprises: the first magnetic induction chip outputs at least one sine and cosine signal group when a rotor of the hybrid encoder rotates for every circle, the sine and cosine signal group comprises sine signals with M periods and cosine signals with M periods, and M is a positive integer; or, the first magnetic induction chip outputs at least one period of digital signals, or at least one PWM signal that varies with the angle position period, or at least two periods of triangular wave signals, or at least four periods of trapezoidal wave signals;
determining the relative position of the hybrid encoder at the current moment according to the second electric signal output by at least one light sensing chip in the hybrid encoder,
wherein the second electrical signal comprises: the light-sensing chip outputs at least one square wave signal group or at least one sine and cosine signal group when a rotor of the hybrid encoder rotates for one circle, wherein the square wave signal group comprises K periods of first square wave signals and K periods of second square wave signals, K is a positive integer, the sine and cosine signal group comprises N periods of sine signals and N periods of cosine signals, and N is a positive integer;
and determining a second absolute position of the hybrid encoder at the current moment according to the first absolute position and the relative position.
2. The method of claim 1, further comprising:
determining the number of turns of the hybrid encoder at the current moment according to a third electric signal output by a second magnetic induction chip or the at least one first magnetic induction chip in the hybrid encoder; or the like, or, alternatively,
and determining the current-time turn number value of the hybrid encoder according to the Z pulse signal in the second electric signal output by the at least one photoinduction chip.
3. The method of claim 1, wherein after determining the relative position of the hybrid encoder at the current time based on the second electrical signal output by the at least one photo-sensing chip of the hybrid encoder, the method further comprises:
detecting whether the voltage amplitudes of the sine signal and the cosine signal in the sine and cosine signal group are in a preset range;
when the voltage amplitudes of the sine signal and the cosine signal are within the preset range, determining a second absolute position of the hybrid encoder at the current moment according to the first absolute position and the relative position;
and when the voltage amplitudes of the sine signal and the cosine signal are not in the preset range, generating alarm information, wherein the alarm information is used for prompting that the first magnetic induction chip is abnormal.
4. The method of claim 1, wherein determining the relative position of the hybrid encoder at the current time based on the second electrical signal output by at least one photo-sensing chip of the hybrid encoder comprises:
accumulating the square wave signal group to obtain a relative position count value, determining the relative position of the hybrid encoder at the current moment according to the relative position count value,
in K periods of first square wave signals and K periods of second square wave signals in the square wave signal group, the phase difference between the first square wave signals and the second square wave signals in the same period is 90 degrees.
5. The method of claim 2, wherein determining the first absolute position of the hybrid encoder at the current time based on at least the first electrical signal output by the at least one first magnetic induction chip of the hybrid encoder comprises:
and determining the first absolute position according to the sine and cosine absolute positions of the sine and cosine signal group and the turn number value corresponding to the Z pulse signal in the second electric signal.
6. A position determining apparatus of a hybrid encoder, the apparatus comprising:
the first determining module is configured to determine a first absolute position of the hybrid encoder at a current moment according to at least a first electrical signal output by at least one first magnetic induction chip in the hybrid encoder, where the first electrical signal includes: the first magnetic induction chip outputs at least one sine and cosine signal group when a rotor of the hybrid encoder rotates for every circle, the sine and cosine signal group comprises sine signals with M periods and cosine signals with M periods, and M is a positive integer; or, the first magnetic induction chip outputs at least one period of digital signals, or at least one PWM signal that varies with the angle position period, or at least two periods of triangular wave signals, or at least four periods of trapezoidal wave signals;
a second determining module, configured to determine a current relative position of the hybrid encoder according to a second electrical signal output by at least one photo-sensing chip in the hybrid encoder, where the second electrical signal includes: the light-sensing chip outputs at least one square wave signal group or at least one sine and cosine signal group when a rotor of the hybrid encoder rotates for one circle, wherein the square wave signal group comprises K periods of first square wave signals and K periods of second square wave signals, K is a positive integer, the sine and cosine signal group comprises N periods of sine signals and N periods of cosine signals, and N is a positive integer;
and the third determining module is used for determining a second absolute position of the hybrid encoder at the current moment according to the first absolute position and the relative position.
7. The apparatus of claim 6, further comprising:
the fourth determining module is used for determining the turn number value of the hybrid encoder at the current moment according to a third electric signal output by a second magnetic induction chip or at least one first magnetic induction chip in the hybrid encoder; or, determining the number of turns of the hybrid encoder at the current moment according to the Z pulse signal in the second electrical signal output by the at least one photo sensing chip.
8. The apparatus of claim 6, further comprising:
a detection module for detecting whether the voltage amplitudes of the sine signal and the cosine signal in the sine and cosine signal group are within a preset range,
and generating alarm information when the voltage amplitudes of the sine signal and the cosine signal are not in the preset range, wherein the alarm information is used for prompting that the first magnetic induction chip is abnormal.
9. Hybrid encoder, characterized in that it comprises a position determining device of a hybrid encoder according to any of claims 6 to 8.
10. An electrical machine comprising the hybrid encoder of claim 9.
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| CN115388925A (en) * | 2022-07-27 | 2022-11-25 | 山东麦格智芯机电科技有限公司 | Method, device, equipment and medium for detecting performance of code disc of magnetic encoder |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115388925A (en) * | 2022-07-27 | 2022-11-25 | 山东麦格智芯机电科技有限公司 | Method, device, equipment and medium for detecting performance of code disc of magnetic encoder |
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