CN114216488A - Control method, control system and equipment of rotary encoder - Google Patents
Control method, control system and equipment of rotary encoder Download PDFInfo
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- CN114216488A CN114216488A CN202111452168.2A CN202111452168A CN114216488A CN 114216488 A CN114216488 A CN 114216488A CN 202111452168 A CN202111452168 A CN 202111452168A CN 114216488 A CN114216488 A CN 114216488A
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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
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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
- G01D5/246—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 by varying the duration of individual pulses
Abstract
The invention discloses a control method, a control system and control equipment of a rotary encoder. The control method of the rotary encoder comprises the following steps: acquiring a signal period of a rotary encoder; when the number of the effective signal cycles acquired in a preset time unit is larger than the preset number of cycles, entering an inertia identification mode; in the inertia recognition mode, the step size of the rotary encoder is adaptively adjusted based on the number of valid signal cycles acquired per preset time unit. The invention can adaptively adjust the step length according to the acquired effective signal periodicity, save the adjustment time of a user and improve the adjustment efficiency.
Description
Technical Field
The invention relates to the technical field of rotary encoders, in particular to a control method and a control system of a rotary encoder.
Background
The existing rotary encoder is widely applied to various household appliance fields, the control appliance generally performs some simple function selection or parameter adjustment in the existing application, the rotary encoder is generally fixed step length, for example, the step length is 1, the value corresponding to the rotary encoder is increased by 1 every time a user rotates one frame, if the whole parameter range to be adjusted is not large, for example, 10 frames are required to be rotated by the user to complete the adjustment in the whole range, but when the rotary encoder is applied to a product with a large value range to be adjusted, for example, 1000 frames are required to be adjusted to 559 frames, the step length is still 1, the operation becomes very slow and the efficiency is low, but if the step length is adjusted to 100 frames, the adjustable gear of the rotary encoder becomes less, and the corresponding adjustment requirement cannot be met.
Disclosure of Invention
The invention provides a control method, a control system and control equipment of a rotary encoder, and aims to solve the technical problem that the step length of the rotary encoder in the prior art is fixed.
The control method of the rotary encoder provided by the invention comprises the following steps:
acquiring a signal period of a rotary encoder;
when the number of the effective signal cycles acquired in a preset time unit is larger than the preset number of cycles, entering an inertia identification mode;
in the inertia recognition mode, the step size of the rotary encoder is adaptively adjusted based on the number of valid signal cycles acquired per preset time unit.
Further, adaptively adjusting the step length of the rotary encoder based on the number of the effective signal cycles acquired by each preset time unit specifically includes:
calculating the multiple of the acquired effective signal periodicity and the preset periodicity in each preset time unit;
searching a pre-designed fixed constant table based on the multiple, and finding a step length adjusting coefficient corresponding to the multiple from the fixed constant table;
and adjusting the initial step length based on the step length adjusting coefficient.
Further, if the step size adjustment coefficient corresponding to the multiple cannot be found in the fixed constant table, performing a modulus operation on the multiple according to the number of the step size adjustment coefficients in the fixed constant table, and finding the corresponding step size adjustment coefficient in the fixed constant table based on a result obtained by the modulus operation.
Further, the method also comprises the following steps: in the inertia identification mode, when the number of the effective signal cycles acquired within a preset time unit is 0, the inertia identification mode is exited.
Further, the number of signal cycles acquired in the preset time unit includes at least one of a number of signal cycles of forward rotation and a number of signal cycles of reverse rotation.
Further, when the number of signal cycles acquired in a preset time unit includes a number of cycles of forward rotation and a number of cycles of reverse rotation, selecting a last counted number of signal cycles as an effective number of signal cycles acquired in the preset time unit.
Further, the forward rotation and the reverse rotation are distinguished by assigning the forward and reverse rotation flag bit to a forward rotation flag or a reverse rotation flag.
The control system adopting the control method of the rotary encoder in the technical scheme provided by the invention comprises the following steps:
the acquisition module is used for acquiring the signal period of the rotary encoder;
the judging module is used for judging whether the number of the effective signal cycles acquired in a preset time unit is greater than the preset number of cycles or not, and if so, sending a signal for entering an inertia identification mode to the operation module;
the operation module is used for calculating the step length according to the effective signal periodicity acquired by the acquisition module in each preset time unit after receiving the signal entering the inertia identification mode;
and the control module is used for adjusting the step length of the rotary encoder according to the step length.
The equipment provided by the invention comprises a rotary encoder and a main controller, wherein the main controller comprises the control system in the technical scheme.
Further, the device also includes a memory.
The invention dynamically adjusts the step length by obtaining the effective signal periodicity, thereby realizing rapid and convenient adjustment of the rotary encoder in a larger range, adopting software to intelligently identify the characteristics of the adjustment signal to pre-judge what operation purpose the user wants to achieve, when the software successfully judges that the inertia identification mode is successfully entered, the software self-adaptively executes a corresponding consistency processing method according to the characteristics of the current signal by a specific algorithm formula to adjust the step length, rapidly enabling the user to achieve the adjustment purpose, improving the efficiency and saving the adjustment point, solving the boring feeling of the user due to overlong adjustment time, and simultaneously adding new application experience on the basis of the traditional application.
Drawings
The invention is described in detail below with reference to examples and figures, in which:
fig. 1 is a block diagram of an apparatus according to an embodiment of the present invention.
FIG. 2 is a graph of slew rate versus signal for one embodiment of the present invention.
FIG. 3 is a flow chart of an embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Thus, a feature indicated in this specification will serve to explain one of the features of one embodiment of the invention, and does not imply that every embodiment of the invention must have the stated feature. Further, it should be noted that this specification describes many features. Although some features may be combined to show a possible system design, these features may also be used in other combinations not explicitly described. Thus, the combinations illustrated are not intended to be limiting unless otherwise specified.
The control method of the rotary encoder of the invention firstly obtains the signal period of the rotary encoder. And when the number of the effective signal cycles acquired in a preset time unit is greater than the preset number of cycles, entering an inertia identification mode. In the inertia recognition mode, the step size of the rotary encoder is adaptively adjusted based on the number of valid signal periods acquired per preset time unit.
The control method of the invention is mainly completed by a control system, and the control system adopting the control method of the rotary encoder comprises an acquisition module, a judgment module, an operation module and a control module. Correspondingly, the acquisition module is used for acquiring the signal period of the rotary encoder, the judgment module is used for judging whether to enter an inertia identification mode, the judgment module is used for judging whether the number of the acquired effective signal periods in a preset time unit is greater than the preset number of periods, if so, a signal for entering the inertia identification mode is sent to the operation module, and the operation module calculates the step length according to the acquired effective signal periods in each preset time unit after receiving the signal for entering the inertia identification mode. And finally, the control module adjusts the step length of the rotary encoder according to the step length calculated by the operation module.
As shown in fig. 1, when the above-described control system of the present invention is applied to an apparatus, the above-described control system of the present invention is a component of a main controller of the apparatus. The main controller is provided with two paths of input signals which respectively receive the A-phase signal and the B-phase signal. The device can also be provided with a power supply, a memory, an output display and the like.
As shown in fig. 2, the a-phase signal and the B-phase signal respectively represent signals generated by the rotary encoder when the user rotates the rotary encoder forward and backward, and the faster the user rotates, the more cycles of the a-phase signal or the B-phase signal can be detected in a preset time unit. For example, the main controller MCU collects the a/B phase signals of two pins of the rotary encoder at a heartbeat frequency of 10us (microseconds) each time, and when the rotary encoder does not rotate, the a phase signal and the B phase signal are simultaneously at a level of 0. When the steering wheel rotates clockwise (positive rotation), the change rule of the A-phase signal and the B-phase signal is that the A-phase signal responds to a high level preferentially, and the B-phase signal responds to the high level after 90-degree phase delay of the A-phase signal. The faster the rotary encoder rotates, the shorter the period S of the rotary encoder, and the greater the number of pulses occurring within the same predetermined time unit. When the steering wheel rotates anticlockwise (rotates reversely), the change law of the A-phase signal and the B-phase signal is that the B-phase signal responds to a high level preferentially, and the A-phase signal responds to the high level after 90-degree phase delay of the B-phase signal. The faster the rotary encoder rotates, the shorter the period S of the rotary encoder, and the greater the number of pulses occurring within the same predetermined time unit.
As shown in fig. 3, in a specific implementation process, the control module of the main controller first determines the forward rotation and the reverse rotation, then sets the forward and reverse rotation flag bits, and assigns the forward and reverse rotation flag bits to the forward rotation flag or the reverse rotation flag to distinguish the forward rotation from the reverse rotation, and the acquisition module combines and filters the phase a signal and the phase B signal to obtain the corresponding signal period. For example, the phase-A signal is acquired every 10us for a fixed period, and the phase-B signal is acquired every 10us for a fixed period.
And processing the collected A-phase signal and B-phase signal to obtain the signal periodicity in the current preset time unit. Assume that a predetermined time unit is 1000ms, the predetermined number of cycles is 2, and the initial step size is 1. If the number of the effective signal cycles acquired within the 1000ms time is within 2 or 2, the number of the effective signal cycles per second is less than 2 pulses, that is, the cycle S > = 500ms in fig. 2, at this time, the number of the effective signal cycles acquired within the preset time unit is less than or equal to the preset number of cycles, at this time, no inertia intervention operation is performed, that is, the inertia recognition mode is not entered. If the number of the effective signal cycles acquired within the time of 1000ms is more than 2, and the number of the effective signal cycles is more than 2 pulses per second, the inertial intervention operation is performed, and the inertial identification mode is entered. At this time, the operation module calculates a new step size according to the speed of the user rotation, i.e. the acquired number of effective signal cycles, and then the rotary encoder accumulates the operation result of the user according to the new step size. If the number of valid signal cycles acquired in the 1000ms period is 0, that is, no signal is acquired, the inertia recognition mode is exited if the inertia recognition mode is in the present time.
And in the non-inertial mode, the Main Controller (MCU) does not adjust the step length, and the adopted step length is the initial step length. That is, each time a valid period S is extracted from the a-phase signal and the B-phase signal, and the time length of this period S is greater than 500MS, or the interval period is greater than 500MS, the program outputs 1 valid count value per a/B-phase period, and the process loops.
In the inertia mode, calculating the multiple of the acquired effective signal periodicity and the preset periodicity in each preset time unit, searching a pre-designed fixed constant table based on the calculated multiple, finding a step length adjusting coefficient corresponding to the multiple from the fixed constant table, and adjusting the initial step length based on the step length adjusting coefficient. For example, if the step adjustment factor is 2 and the initial step is 1, the adjusted step is 2.
In one embodiment, when any valid Count signal is detected for more than 2 cycles per second, the coherence identification mode is entered, in which 3 valid values are recorded per second, Time, Count, and calculate. Time is every preset Time unit, e.g., Time =1, which is the first preset Time unit, and Time =2, which is the second preset Time unit. The Count is the number of signal cycles of effective counting recorded in a preset time unit, namely the number of effective signal cycles, and the calculation is a pre-judgment value obtained according to a fixed constant table according to the relation ratio of time and Count. The size is constrained to the current maximum coefficient after reaching a certain maximum coefficient to avoid infinite increase. The formula of the operation is Calculate = calculaterlist [ (Count/((Time × 1000)/500))% calculaterlsitnum ].
The fixed constant table calcutetlsist is shown below (the following values are merely exemplary and may be modified as needed).
flout CalculateLsit[CalculateLsitNUM] =
{
0.15, 0.35, 0.55, 0.72, 0.94, 1.0, 1.21, 1.35, 1.52, 1.74,
1.92, 2.05, 2.15, 2.28, 2.40, 2.52, 2.63, 2.78, 2.99, 3.05,
3.15, 3.35, 3.55, 3.72, 3.94, 4.02, 4.21, 4.35, 4.52, 5.74,
5.92, 6.05, 6.15, 6.28, 6.40, 6.52, 6.63, 6.78, 6.99, 7.05,
7.14, 7.24, 7.32 , 7.46, 7.58, 7.65, 7.77, 7.96, 8.06, 8.18,
8.30, 8.40, 8.55, 8.77, 8.95, 9.06 , 9.22. 9.38, 9.51, 9.66,
9.70, 9.81, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0,
10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0,
};
When the calculation module calculates that the called is non-zero, it is described that the count value (step length) of the current operation is an idea that a user needs to adjust quickly through program intervention when the knob is operated, and the program calculates the value of the called accumulated on the basis of the effective value of the normal signal, if the effective value of the normal signal is 100 at present, the obtained value of the called is 5, and when the initial step length is 1, the count value of the operation starts to be accumulated for 5 each time from 100. When the user continues to turn the knob for a longer time and at a higher speed, the difference between the current value and the target value-98 is larger, the speed of the user turns the knob is proportional to the distance between the target and the speed of the user knob, the faster the user turns the knob is away from the target value, the larger the calculation value is, and the program adds a consistency value to the current value, so that the automatic intelligent acceleration operation is realized, and the intelligent synergy effect is realized on the adjustment operation with the larger difference.
In some cases, it is possible that the value of Count/((Time 1000)/500) calculated by the operation module exceeds calllateltnum, so that the step size adjustment coefficient corresponding to the multiple cannot be found in the fixed constant table, at this Time, the problem is solved by performing a modulo operation, if the step size adjustment coefficient corresponding to the multiple cannot be found in the fixed constant table, the modulo operation is performed on the multiple according to the number of the step size adjustment coefficients in the fixed constant table, and the corresponding step size adjustment coefficient is found in the fixed constant table based on a result obtained by the modulo operation.
When a user operates the device, the device and the method, when the user possibly performs forward and reverse rotation operations in a preset time unit at the same time, and signals acquired in the preset time unit comprise forward rotation signal periods and reverse rotation signal periods, the device and the method select a signal period number which is counted finally as an effective signal period number acquired in the preset time unit. If the user only performs forward rotation operation or reverse rotation operation in a preset time unit, the number of signal cycles acquired in the preset time unit is the valid number of signal cycles.
When the inertia recognition mode is exited, the control system clears the assignments of the variables Time, Count, and estimate.
The invention also protects corresponding equipment which is provided with a rotary encoder and a main controller, wherein the main controller comprises the control system of the technical scheme.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A control method of a rotary encoder, comprising:
acquiring a signal period of a rotary encoder;
when the number of the effective signal cycles acquired in a preset time unit is larger than the preset number of cycles, entering an inertia identification mode;
in the inertia recognition mode, the step size of the rotary encoder is adaptively adjusted based on the number of valid signal cycles acquired per preset time unit.
2. The method for controlling a rotary encoder according to claim 1, wherein the adaptively adjusting the step size of the rotary encoder based on the number of the effective signal periods obtained per preset time unit comprises:
calculating the multiple of the acquired effective signal periodicity and the preset periodicity in each preset time unit;
searching a pre-designed fixed constant table based on the multiple, and finding a step length adjusting coefficient corresponding to the multiple from the fixed constant table;
and adjusting the initial step length based on the step length adjusting coefficient.
3. The control method of a rotary encoder according to claim 2, wherein if the step size adjustment coefficient corresponding to the multiple cannot be found in the fixed constant table, the multiple is modulo-operated according to the number of the step size adjustment coefficients in the fixed constant table, and the corresponding step size adjustment coefficient is found in the fixed constant table based on a result of the modulo-operation.
4. The control method of a rotary encoder according to claim 1, further comprising the steps of: in the inertia identification mode, when the number of the effective signal cycles acquired within a preset time unit is 0, the inertia identification mode is exited.
5. The method according to any one of claims 1 to 4, wherein the number of signal cycles acquired in the preset time unit includes at least one of a number of signal cycles of forward rotation and a number of signal cycles of reverse rotation.
6. The method of claim 5, wherein when the number of signal cycles acquired in a predetermined time unit includes a number of cycles of forward rotation and a number of cycles of reverse rotation, a last counted number of signal cycles is selected as the number of valid signal cycles acquired in the predetermined time unit.
7. The control method of a rotary encoder according to claim 5, wherein the forward rotation and the reverse rotation are distinguished by assigning a forward rotation flag bit to a forward rotation flag or a reverse rotation flag bit.
8. A control system employing the control method of the rotary encoder according to any one of claims 1 to 7, characterized by comprising:
the acquisition module is used for acquiring the signal period of the rotary encoder;
the judging module is used for judging whether the number of the effective signal cycles acquired in a preset time unit is greater than the preset number of cycles or not, and if so, sending a signal for entering an inertia identification mode to the operation module;
the operation module is used for calculating the step length according to the effective signal periodicity acquired by the acquisition module in each preset time unit after receiving the signal entering the inertia identification mode;
and the control module is used for adjusting the step length of the rotary encoder according to the step length.
9. An apparatus comprising a rotary encoder and a master controller, wherein the master controller comprises the control system of claim 8.
10. The apparatus of claim 9, further comprising a memory.
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| CN103823398A (en) * | 2014-03-12 | 2014-05-28 | 上海沪工焊接集团股份有限公司 | Rotary encoder regulation control method and device |
| US20150349684A1 (en) * | 2014-05-28 | 2015-12-03 | Denso Corporation | Shift position switching controller |
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