CN114237101A - Photoelectric encoder signal acquisition module with error compensation - Google Patents
Photoelectric encoder signal acquisition module with error compensation Download PDFInfo
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- CN114237101A CN114237101A CN202111465455.7A CN202111465455A CN114237101A CN 114237101 A CN114237101 A CN 114237101A CN 202111465455 A CN202111465455 A CN 202111465455A CN 114237101 A CN114237101 A CN 114237101A
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- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
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- G05B2219/24215—Scada supervisory control and data acquisition
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Abstract
A photoelectric encoder signal acquisition module with error compensation comprises a signal conversion module, a logic processing module, an operation processing module, an ISA communication module, an angle encoder signal interface, a communication interface and the like; the angle encoder signal interface acquires an angle position signal, the angle position signal is converted by the signal conversion module and then transmitted to the logic processing module, and the logic processing module analyzes the angle position signal to obtain an original angle position value and transmits the original angle position value to the operation processing module; the communication interface receives the error information of the external angular position, the error information is transferred to the operation processing module after being analyzed by the logic processing module, the operation processing module carries out harmonic analysis on the angular position error information to obtain high-precision angular position information and transfers the high-precision angular position information back to the logic processing module, and the logic processing module transmits the high-precision angular position information to other systems through the ISA communication module. The invention can not only accurately analyze the angular position signal of the absolute encoder and the angular position signal of the incremental encoder, but also compensate the mechanical installation error of the photoelectric encoder.
Description
Technical Field
The invention relates to a photoelectric encoder signal acquisition module with error compensation, in particular to a high-precision angle position acquisition system with a compensation function, which is applied to inertial navigation test equipment.
Background
In the process of developing the inertial navigation test equipment, real-time measurement data output by the angular position acquisition system is used as a comparison standard of the system, and the precision and the performance of the real-time measurement data directly influence the control precision and the dynamic performance of the inertial navigation test equipment. The angular position acquisition error can be divided into an angular encoder self error and a mechanical installation error thereof, the angular encoder self error is generally small and can not be changed, so the mechanical installation error is a key for determining the accuracy of the angular position acquisition system, but the mechanical installation error cannot be completely eliminated due to the limitation of mechanical processing and assembly conditions, so a compensation algorithm needs to be added into the angular position acquisition system.
Generally, the angular position error compensation algorithm is embedded in a control system of the inertial navigation test equipment, and the complexity of the compensation algorithm greatly occupies the resources of a processor in the control system, and particularly in some equipment applications with high real-time requirements and multiple axes, the control accuracy of the equipment applications is seriously affected.
Disclosure of Invention
The invention aims to provide a photoelectric encoder signal acquisition module with error compensation, which solves the problems in the background art, can accurately analyze an absolute signal and an incremental signal simultaneously, and can compensate the mechanical installation error of an angle encoder.
The technical scheme adopted for achieving the purpose is that the signal acquisition module of the photoelectric encoder with the error compensation comprises a power supply module, a signal conversion module, a logic processing module, an RS422 communication module, an operation processing module, an ISA communication module, an angle encoder signal interface and a communication interface; the angle encoder signal interface acquires an angle position signal, the angle position signal is converted by the signal conversion module and then transmitted to the logic processing module, and the logic processing module analyzes the angle position signal to obtain an original angle position value and transmits the original angle position value to the operation processing module; the RS422 communication module receives the error information of the external angular position through the communication interface, the error information is analyzed by the logic processing module and then transferred to the operation processing module, the operation processing module performs harmonic analysis on the angular position error information to obtain high-precision angular position information and returns the high-precision angular position information to the logic processing module, and the logic processing module transmits the high-precision angular position information to other systems through the ISA communication module in a bus mode; the power supply module is respectively connected with the signal conversion module, the logic processing module, the RS422 communication module, the operation processing module and the ISA communication module for power supply.
Furthermore, the power supply module comprises a direct current power supply chip and provides a required direct current working power supply for other modules.
Further, the signal conversion module comprises a signal conversion chip and an RS485 transceiver, and the signal conversion chip performs difference and level conversion on the encoder increment signal; and the RS485 transceiver performs difference and level conversion and receiving and transmitting control on the absolute signal of the encoder, and the converted signal is transmitted to the logic processing module.
Further, the logic processing module comprises an FPGA programmable logic chip, a serial configuration chip and a clock circuit, the FPGA programmable logic chip decodes the signal converted by the signal conversion module, and the FPGA programmable logic chip analyzes the angular position error signal received by the RS422 communication module and transmits the obtained information; the serial configuration chip is an FPGA programmable logic chip and stores a software program; the clock circuit provides clock signals for the FPGA programmable logic chip.
Further, the RS422 communication module comprises an RS422 transceiver and a high-speed isolation chip, wherein the RS422 transceiver receives the angular position error information, and the angular position error information is transmitted to the logic processing module after being processed by the high-speed isolation chip.
Further, the operation processing module comprises a DSP digital signal processing chip and a Flash memory, the DSP digital signal processing chip performs operation processing on the angular position error information according to a harmonic analysis method, extracts harmonic components from one time to multiple times to obtain an error function of original angular position information, further compensates the original angular position information, and sends the obtained high-precision angular position information to the logic processing module; the Flash memory stores software programs for the DSP digital signal processing chip.
Furthermore, the ISA communication module comprises a level conversion chip and an ISA communication interface, wherein the level conversion chip is connected with the logic processing module, and transmits the high-precision angle position information to other systems through the ISA communication interface in a bus mode.
Advantageous effects
Compared with the prior art, the invention has the following advantages.
1. The angular position error compensation function is provided, and the accuracy of the output angular position is higher;
2. the absolute type and incremental type coding signals can be received at the same time, and are decoded accurately;
3. up to 6-channel angle encoder signals can be received.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings.
FIG. 1 is a block diagram of the system of the present invention;
FIG. 2 is a schematic block diagram of the system of the present invention;
FIG. 3 is a schematic diagram of a signal conversion module of the incremental encoder of the present invention;
FIG. 4 is a schematic diagram of a signal conversion module of an absolute encoder according to the present invention.
Detailed Description
The invention is further described with reference to the following examples and the accompanying drawings.
As shown in fig. 1-4, a signal acquisition module of a photoelectric encoder with error compensation includes a power module 1, a signal conversion module 2, a logic processing module 3, an RS422 communication module 4, an operation processing module 5, an ISA communication module 6, an angle encoder signal interface 8, and a communication interface 7; the angle encoder signal interface 8 acquires an angle position signal, the angle position signal is converted by the signal conversion module 2 and then transmitted to the logic processing module 3, and the logic processing module 3 obtains an original angle position value after analysis and transmits the original angle position value to the operation processing module 5; the RS422 communication module 4 receives the error information of the external angular position through the communication interface 7, the error information is analyzed by the logic processing module 3 and then transferred to the operation processing module 5, the operation processing module 5 performs harmonic analysis on the angular position error information to obtain high-precision angular position information and transmits the high-precision angular position information back to the logic processing module 3, and the logic processing module 3 transmits the high-precision angular position information to other systems through the ISA communication module 6 in a bus mode; the power supply module 1 is respectively connected with the signal conversion module 2, the logic processing module 3, the RS422 communication module 4, the operation processing module 5 and the ISA communication module 6 for power supply.
The power module 1 includes a dc power chip 12, which provides a required dc working power for other modules.
The signal conversion module 2 comprises a signal conversion chip 21 and an RS485 transceiver 22, wherein the signal conversion chip 21 performs difference and level conversion on the encoder increment signal; the RS485 transceiver 22 performs difference and level conversion and transmission control on the encoder absolute signal, and the converted signal is transmitted to the logic processing module 3.
The logic processing module 3 comprises an FPGA programmable logic chip 17, a serial configuration chip 18 and a clock circuit 11, the FPGA programmable logic chip 17 decodes the signals converted by the signal conversion module 2, and the FPGA programmable logic chip 17 analyzes the angular position error signals received by the RS422 communication module 4 and transmits the obtained information; the serial configuration chip 18 stores a software program for the FPGA programmable logic chip 17; the clock circuit 11 provides clock signals for the FPGA programmable logic chip 17.
The RS422 communication module 4 comprises an RS422 transceiver 20 and a high-speed isolation chip 19, wherein the RS422 transceiver 20 receives the angular position error information, and the angular position error information is transmitted to the logic processing module 3 after being processed by the high-speed isolation chip 19.
The operation processing module 5 comprises a DSP digital signal processing chip 13 and a Flash memory 14, the DSP digital signal processing chip 13 performs operation processing on the angular position error information according to a harmonic analysis method, extracts harmonic components for one time or more times to obtain an error function of original angular position information, further compensates the original angular position information, and sends the obtained high-precision angular position information to the logic processing module 3; the Flash memory 14 stores software programs for the DSP digital signal processing chip 13.
The ISA communication module 6 comprises a level conversion chip 16 and an ISA communication interface 15, wherein the level conversion chip 16 is connected with the logic processing module 3, and transmits the high-precision angle position information to other systems through the ISA communication interface 15 in a bus manner.
In the invention, the angle encoder interface 8 acquires an angle position signal, the angle position signal is transmitted to the logic processing module 3 after differential conversion and level conversion of the signal conversion module 2, and the logic processing module 3 analyzes the angle position signal to obtain an original angle position value and transmits the original angle position value to the operation processing module 5; in addition, the error information of the external angular position is received through the communication interface 7 and the RS422 communication module 4, the information is analyzed by the logic processing module 3 and then transferred to the operation processing module 5, the operation processing module 5 performs harmonic analysis on the angular position error information according to a harmonic analysis method, extracts harmonic compensation components, obtains an error function of the original angular position information, further obtains high-precision angular position information and returns the high-precision angular position information to the logic processing module, and the logic processing module 3 is combined with the ISA communication module 6 to transmit the high-precision angular position information to other systems in a bus mode. The power module 1 includes a dc power chip 12 for providing the required dc power supply to other modules.
The signal conversion module 2 mainly comprises a signal conversion chip 21 and an RS485 transceiver 22, which are connected with the FPGA programmable logic chip 17, and is used for converting the incremental or absolute signal output by the angle sensor into a signal compatible with the FPGA programmable logic chip 17. If the signal is an incremental encoder signal, the signal conversion chip 21 generally adopts a conversion chip with the model of AM26LS32, so that the TTL differential signal output by the encoder is converted into a 3.3V single-ended signal; for absolute encoder signals, the RS485 transceiver 22 generally uses a MAX3485 chip, and the conversion from differential to single-ended and from single-ended to differential is controllable.
The logic processing module 3 comprises an FPGA programmable logic chip 17, a serial configuration chip 18 and a clock circuit 11, wherein the model selected by the FPGA programmable logic chip 17 is EP2C8_ 144; the serial configuration chip 18 is selected to be EPCS16 in the model number and stores a software program for the FPGA programmable logic chip 17; clock circuit 11 provides clock signals to FPGA programmable logic chip 17. The FPGA programmable logic chip 17 has the main functions of:
1. the signal conversion chip 21 is connected with the input end of the angle sensor, receives the incremental signals output by the angle sensor and counts the orthogonal coding signals; the encoder absolute signal receiving device is connected with the RS485 transceiver 22, receives the absolute signal output by the angle sensor, and analyzes the absolute signal according to the self protocol SSI or EnDat2.2 protocol of the encoder absolute signal so as to obtain the original angular position information;
2. the RS422 communication module 4 is connected with the receiver, receives the angular position error signal and analyzes the angular position error signal according to an appointed communication protocol;
3. and the DSP digital signal processing chip 13 is connected for data interaction, and the data comprises: original angular position information, angular position error signals, high-precision angular position information, and the like;
4. and the high-precision angle position information obtained by compensation is converted by the level conversion chip 16 and is transmitted to other systems in a bus mode through the ISA communication interface 15.
The RS422 communication module 4 comprises an RS422 transceiver 20 and a high-speed isolation chip 19, wherein the model selected by the RS422 transceiver 20 is MAX490, and angular position error information is received; the model selected by the high-speed isolation chip 19 is ADUM3442, and the error information is isolated, so that the disturbance resistance of the RS422 communication module 4 is improved. Connected with the FPGA programmable logic chip 17.
The operation processing module 5 mainly comprises a DSP digital signal processing chip 13 and a Flash memory 14, wherein the model selected by the DSP digital signal processing chip 13 is TMS320VC 5509A; the model selected by the Flash memory 14 is AT26DF321, and stores software programs for the DSP digital signal processing chip 13. The DSP digital signal processing chip 13 has the main functions of:
1. and the FPGA programmable logic chip 17 is connected for data interaction, and the data comprises: original angular position information, angular position error signals, high-precision angular position information, and the like;
2. and the system is responsible for the operation processing of data, harmonic analysis is carried out on the angular position error information, harmonic compensation components are extracted, an error function of the angular position information is obtained, and then the original angular position information is compensated, so that the high-precision angular position information is obtained.
The ISA communication module 6 comprises a level conversion chip 16 and an ISA communication interface 15, wherein the level conversion chip 16 is selected to be 74ALVC164245, is connected with the FPGA programmable logic chip 17, is responsible for level conversion of address signals and high-precision angle position data signals, and is connected with the ISA communication interface 15 to transmit high-precision angle position information to other systems in a bus manner. In the process of developing the inertial navigation test equipment, an FPGA programmable logic chip triggers external interruption (1kHz) of the industrial personal computer through an interruption pin of an ISA communication interface 15, and after the external interruption of the industrial personal computer is triggered, a control system reads high-precision angle position information in a logic processing module at the communication speed of 1 ms/frame.
Claims (7)
1. A photoelectric encoder signal acquisition module with error compensation comprises a power module (1), a signal conversion module (2), a logic processing module (3), an RS422 communication module (4), an operation processing module (5), an ISA communication module (6), an angle encoder signal interface (8) and a communication interface (7); the device is characterized in that an angle position signal is obtained by an angle encoder signal interface (8), is converted by a signal conversion module (2) and then is transmitted to a logic processing module (3), and an original angle position value is obtained after the logic processing module (3) analyzes the signal and is transmitted to an operation processing module (5); the RS422 communication module (4) receives the error information of the external angular position through the communication interface (7), the error information is analyzed by the logic processing module (3) and then transferred to the operation processing module (5), the operation processing module (5) performs harmonic analysis on the angular position error information to obtain high-precision angular position information and returns the high-precision angular position information to the logic processing module (3), and the logic processing module (3) transmits the high-precision angular position information to other systems through the ISA communication module (6) in a bus mode; the power supply module (1) is respectively connected with the signal conversion module (2), the logic processing module (3), the RS422 communication module (4), the operation processing module (5) and the ISA communication module (6) for power supply.
2. The signal acquisition module of the photoelectric encoder with the error compensation function according to claim 1, wherein the power supply module (1) comprises a direct current power supply chip (12) for providing a required direct current working power supply for other modules.
3. The signal acquisition module of the photoelectric encoder with the error compensation function according to claim 1, wherein the signal conversion module (2) comprises a signal conversion chip (21) and an RS485 transceiver (22), and the signal conversion chip (21) performs difference and level conversion on the encoder increment signal; and the RS485 transceiver (22) performs difference and level conversion and receiving and transmitting control on the absolute signal of the encoder, and the converted signal is transmitted to the logic processing module (3).
4. The signal acquisition module of the photoelectric encoder with the error compensation function according to claim 1, wherein the logic processing module (3) comprises an FPGA (field programmable gate array) programmable logic chip (17), a serial configuration chip (18) and a clock circuit (11), the FPGA programmable logic chip (17) decodes the signal converted by the signal conversion module (2), and the FPGA programmable logic chip (17) analyzes the angular position error signal received by the RS422 communication module (4) and transmits the obtained information; the serial configuration chip (18) stores a software program for the FPGA programmable logic chip (17); the clock circuit (11) provides clock signals for the FPGA programmable logic chip (17).
5. The photoelectric encoder signal acquisition module with error compensation according to claim 1, wherein the RS422 communication module (4) comprises an RS422 transceiver (20) and a high-speed isolation chip (19), and the RS422 transceiver (20) receives the angular position error information, processes the angular position error information by the high-speed isolation chip (19), and transmits the angular position error information to the logic processing module (3).
6. The signal acquisition module of the photoelectric encoder with error compensation according to claim 1, wherein the arithmetic processing module (5) comprises a DSP digital signal processing chip (13) and a Flash memory (14), the DSP digital signal processing chip (13) performs arithmetic processing on the angular position error information according to a harmonic analysis method, extracts harmonic components once to many times, obtains an error function of the original angular position information, further compensates the original angular position information, and sends the obtained high-precision angular position information to the logic processing module (3); the Flash memory (14) stores software programs for the DSP digital signal processing chip (13).
7. The signal acquisition module of the photoelectric encoder with the error compensation function according to claim 1, wherein the ISA communication module (6) comprises a level conversion chip (16) and an ISA communication interface (15), the level conversion chip (16) is connected to the logic processing module (3), and the high-precision angle position information is transmitted to other systems through the ISA communication interface (15) in a bus manner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111465455.7A CN114237101A (en) | 2021-12-03 | 2021-12-03 | Photoelectric encoder signal acquisition module with error compensation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111465455.7A CN114237101A (en) | 2021-12-03 | 2021-12-03 | Photoelectric encoder signal acquisition module with error compensation |
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| Publication Number | Publication Date |
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| CN114237101A true CN114237101A (en) | 2022-03-25 |
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| CN202111465455.7A Withdrawn CN114237101A (en) | 2021-12-03 | 2021-12-03 | Photoelectric encoder signal acquisition module with error compensation |
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- 2021-12-03 CN CN202111465455.7A patent/CN114237101A/en not_active Withdrawn
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