CN114485756A - Detection apparatus and method of rotary encoder, and computer-readable storage medium - Google Patents
Detection apparatus and method of rotary encoder, and computer-readable storage medium Download PDFInfo
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- G01D18/00—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00
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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
- G01D5/24457—Failure detection
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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
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
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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
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
- G01D5/2451—Incremental encoders
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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
- G01D5/26—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
- G01D5/32—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 with attenuation or whole or partial obturation of beams of light
- G01D5/34—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 with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/347—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 with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
- G01D5/3473—Circular or rotary encoders
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Abstract
The invention provides a detection device and a method of a rotary encoder and a computer readable storage medium, wherein the detection device of the rotary encoder comprises: a motor connected to the rotary encoder to be tested; the first interface circuit is electrically connected to the rotary encoder to be tested and used for analyzing incremental data and/or SSI data from output signals of the rotary encoder to be tested; a processor electrically connected to the first interface circuit, the processor configured to: reading the incremental data and/or the SSI data at a preset time interval, comparing the incremental data read in two times and/or comparing the SSI data read in two times, and determining whether the rotary encoder to be tested is normal or not based on whether the incremental data read in two times jump or not and/or whether the SSI data read in two times jump or not. The detection device and the detection method can determine whether the rotary encoder is normal or not.
Description
Technical Field
The present invention relates to the field of rotary encoders, and more particularly, to a detection apparatus and method for a rotary encoder, and a computer-readable storage medium.
Background
The core of the wind generating set for pitch control is the control of a pitch motor, and any problem of motor driving can cause disastrous consequences to a pitch system and even the whole wind generating set.
The normal operation of the rotary encoder reflecting the state of the motor is particularly important, and the rotary encoder is generally directly and coaxially installed with a variable pitch motor. The information of the speed, the direction and the like of the variable pitch motor is fed back to a Programmable Logic Controller (PLC) of the control system through the rotary encoder.
The rotary encoder of the pitch system of the wind generating set is required to operate stably for a long time, and the reliability of the rotary encoder is extremely high, so that faults (for example, multiple failure modes) of the rotary encoder need to be effectively detected to ensure the reliability of the rotary encoder.
The existing technical means for detecting the output data of the rotary encoder cannot effectively and accurately determine whether the rotary encoder is normal or not, and factors influenced by detection precision, noise and the like are large.
The above information is provided merely as reference information for understanding a rotary encoder, and no statement or assertion is made herein as to whether or not it can constitute prior art with respect to the present invention.
Disclosure of Invention
An object of the present invention is to provide a detection apparatus and method capable of determining whether a rotary encoder is normal.
Another object of the present invention is to provide a detection device and method capable of detecting the technical state of any type of rotary encoder.
According to an aspect of the present invention, a detection apparatus of a rotary encoder includes a motor connected to a rotary encoder to be measured; a first interface circuit electrically connected to the rotary encoder to be tested and analyzing the incremental data and/or the SSI data from the output signal of the rotary encoder to be tested; a processor electrically connected to the first interface circuit, the processor configured to: reading the incremental data and/or the SSI data at a preset time interval, comparing the incremental data read in two times and/or comparing the SSI data read in two times, and determining whether the rotary encoder to be tested is normal or not based on whether the incremental data read in two times jump or not and/or whether the SSI data read in two times jump or not.
According to an embodiment of the present invention, the first interface circuit may include a first incremental interface circuit and/or a first SSI interface circuit, where the first incremental interface circuit and the first SSI interface circuit are electrically connected between the to-be-tested rotary encoder and the processor, respectively, the first incremental interface circuit parses the first incremental data from the output signal of the to-be-tested rotary encoder, and the first SSI interface circuit parses the first SSI data from the output signal.
According to an embodiment of the invention, the processor may be configured to: the method comprises the steps of reading first incremental data from a first incremental interface circuit in real time and/or reading first SSI data from the first SSI interface circuit in real time at preset time intervals in a preset test period, and determining whether a rotary encoder to be tested is normal or not based on whether the first incremental data read in two times before and after are jumped or not and/or whether the first SSI data read in two times before and after are jumped or not.
According to an embodiment of the present invention, the motor may be a dual-shaft motor, and the detection apparatus may further include: and the reference rotary encoder is connected to the double-shaft motor through a first coupler, and the rotary encoder to be tested is connected to the double-shaft motor through a second coupler.
According to an embodiment of the present invention, the detection apparatus may further include a second interface circuit, the second interface circuit may include a second incremental interface circuit and a second SSI interface circuit, the second incremental interface circuit and the second SSI interface circuit are respectively electrically connected between the reference rotary encoder and the processor, the second incremental interface circuit parses the second incremental data from the output signal of the reference rotary encoder, and the second SSI interface circuit parses the second SSI data from the output signal of the reference rotary encoder.
According to an embodiment of the invention, the processor may be further configured to: comparing the first incremental data and the second incremental data acquired at the same time, and further determining whether the rotary encoder to be detected is normal based on whether the difference value between the first incremental data and the second incremental data exceeds a first threshold value; and/or the processor compares the first SSI data and the second SSI data acquired at the same time, and further determines whether the rotary encoder to be tested is normal based on whether the difference between the first SSI data and the second SSI data exceeds a second threshold.
According to an embodiment of the present invention, the processor may be further configured to determine whether the rotary encoder under test is normal based on whether the rotation directions of the dual-axis motor, the rotary encoder under test, and the reference rotary encoder are the same.
According to an embodiment of the invention, the processor may be further configured to: and determining that the rotary encoder to be tested is normal in response to the fact that the difference value between the first incremental data and the second incremental data does not exceed the first threshold value, the difference value between the first SSI data and the second SSI data does not exceed the second threshold value, and the rotating directions of the double-shaft motor, the rotary encoder to be tested and the reference rotary encoder are the same.
According to an embodiment of the invention, the incremental data may include rotational angle data and angular velocity data, and the SSI data includes single turn data and multi-turn data.
According to another aspect of the present invention, a detection method of a rotary encoder includes: reading first incremental data and/or first SSI data of a first interface circuit electrically connected with an output end of a rotary encoder to be tested and driven to rotate by a motor at preset time intervals; comparing the first incremental data read in two times and/or comparing the first SSI data read in two times; and determining whether the rotary encoder to be tested is normal or not based on whether the first incremental data read in the two times before and after jump or not and/or whether the first SSI data read in the two times before and after jump or not.
According to an embodiment of the present invention, the detection method may further include: and reading second incremental data and/or second SSI data of a second interface circuit electrically connected with the output end of the reference rotary encoder rotated by the motor at preset time intervals.
According to an embodiment of the present invention, the detection method may further include: comparing the first incremental data and the second incremental data acquired at the same time, and determining whether the rotary encoder to be detected is normal or not based on whether the difference value between the first incremental data and the second incremental data exceeds a first threshold value or not; and/or comparing the first SSI data and the second SSI data acquired at the same time, and determining whether the rotary encoder to be detected is normal based on whether the difference value between the first SSI data and the second SSI data exceeds a second threshold value.
According to an embodiment of the present invention, the detection method may further include: and determining whether the rotary encoder to be tested is normal or not based on whether the rotating directions of the motor, the rotary encoder to be tested and the reference rotary encoder are the same or not.
According to the embodiment of the invention, when the difference value between the first incremental data and the second incremental data does not exceed the first threshold value, the difference value between the first SSI data and the second SSI data does not exceed the second threshold value, and the rotation directions of the motor, the rotary encoder to be tested and the reference rotary encoder are the same, it is determined that the rotary encoder to be tested is normal.
According to an embodiment of the present invention, the first incremental data may include rotation angle data and angular velocity data of the to-be-measured rotary encoder, the first SSI data includes single-turn data and multi-turn data of the to-be-measured rotary encoder, the second incremental data includes rotation angle data and angular velocity data of the reference rotary encoder, and the second SSI data includes single-turn data and multi-turn data of the reference rotary encoder.
According to another aspect of the present invention, a computer-readable storage medium stores a program or instructions that, when executed by a processor, performs the above-described detection method of a rotary encoder.
The detection device and the method according to the embodiment of the invention can accurately determine whether the rotary encoder is normal.
The detection device and the detection method provided by the embodiment of the invention have strong compatibility, and can be used for testing all types of rotary encoders.
The detection device and the detection method provided by the embodiment of the invention have strong cutting performance and can adapt to different scene requirements.
The detection device and the detection method provided by the embodiment of the invention have an automatic monitoring function, a large amount of manual operation is omitted, and the working efficiency is improved.
Drawings
Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the like elements throughout. The embodiments are described below in order to explain the present invention by referring to the figures.
Fig. 1 is a block diagram showing a detection apparatus of a first embodiment of the present invention.
Fig. 2 is a block diagram showing a detection apparatus of a second embodiment of the present invention.
FIG. 3 is a flow chart illustrating a detection method of an embodiment of the present invention.
Detailed Description
The embodiments disclosed herein are not intended to limit the scope of the disclosure to the disclosed embodiments, and it should be understood that the disclosed embodiments include all changes, equivalents, and alternatives falling within the spirit and scope of the disclosure. Expressions such as "comprising" and "may comprise" are used to specify the presence of the disclosed function, act, element, etc., but do not preclude the presence or addition of one or more other functions, acts, elements, etc.
The detection device and method according to the embodiment of the invention can detect the technical state of the rotary encoder before the rotary encoder is installed, thereby determining whether the rotary encoder can work normally. Preferred embodiments of the present invention will be described below with reference to the accompanying drawings.
Fig. 1 is a block diagram showing a detection apparatus of a first embodiment of the present invention.
As shown in fig. 1, the detecting apparatus of the rotary encoder according to the embodiment of the present invention may include a motor 10, a first interface circuit 30, and a processor 40.
The motor 10 may be connected to a rotary encoder 20 to be tested, and the rotary encoder 20 to be tested may be present independently of the detection device. Alternatively, the rotary encoder 20 to be tested may also be considered as part of the detection device.
The rotary encoder is a device which is used for measuring the rotating speed and can realize quick speed regulation by matching with a PWM (pulse-width modulation) technology, and the rotary encoder in the motion control system is used for converting parameters such as positions, angles and the like into digital quantities. Various types of rotary encoders can be formed by using mechanisms such as electrical contact, magnetic effect, capacitance effect, photoelectric conversion, and the like.
The rotary encoders may include incremental rotary encoders, absolute rotary encoders, hybrid rotary encoders, and the like. The incremental rotary encoder converts the time sequence and phase relation of the angle code disc through two photosensitive receiving tubes inside to obtain the increase (positive direction) or decrease (negative direction) of the angle displacement of the angle code disc. The absolute rotary encoder has a code output corresponding to the position, usually a Gray code, and can judge the positive and negative directions and the position of displacement according to the change of the code number, and the absolute zero code can also be used for power failure position memory. The hybrid absolute value rotary encoder outputs two sets of information, one set of information is used for detecting the position of a magnetic pole and has an absolute information function, and the other set of information is completely identical to the output information of the incremental rotary encoder.
As shown in fig. 1, the first interface circuit 30 may be electrically connected to the rotary encoder 20 under test and may parse various detection data (e.g., incremental data and/or Synchronous Serial Interface (SSI) data) from the output signal of the rotary encoder 20 under test. Alternatively, each type of interface circuit in the present invention may be a typical interface circuit (e.g., an incremental interface circuit and or an SSI interface circuit) of various types of rotary encoders that are currently available.
For example, the incremental interface circuit and the SSI interface circuit may each be a data parsing circuit, and the incremental interface circuit may be relatively complex, with the input being an analog signal input to the rotary encoder, which may include counting, level shifting, and the like. The SSI interface circuit is a digital signal input by the rotary encoder, and the circuit construction of the SSI interface circuit can be relatively simple, and only SSI data such as single-turn data and/or multi-turn data needs to be analyzed.
The operation principle of the SSI interface is that when there is no data transmission, the clock and data signals are in a high logic level state, and the monostable circuit does not work, and has the following characteristics: the first falling edge of the clock signal, the monostable (state) circuit is activated, the data on the parallel/serial converter is stored in the conversion register; a first clock signal rising edge transmits a Most Significant Bit (MSB) Gn of the stored data onto the data signal output line; the clock signal is at the falling edge (the signal is in a stable state), the controller obtains a required level value from the data signal output line, and the monostable circuit is activated again; gnx1, Gnx2 … … are output one by one along with the arrival of the rising edge of each pulse, the transmission of the last bit G1 is finished, the data line jumps to the Least Significant Bit (LSB) to transmit a data signal, and the data signal is transmitted to the controller on the falling edge; at the end of the clock pulse, the controller obtains the level value of the Least Significant Bit (LSB), the clock pulse stops and the monostable is no longer active; once the monostable time has elapsed, the data signal goes to a logic high level and the monostable circuit is inactive; the length of the transmitted data frame is determined by the rotary encoder type (e.g., single and multi-turn) and not by the resolution.
The embodiment of the invention selects the SSI clock rate of 125kHz (which can be selected from 125kHz, 250kHz, 500kHz and 1 MHz), and the supply voltage of the SSI interface used by the invention can be 5V.
The processor 40 may be electrically connected to the first interface circuit 30, and the processor 40 may be configured to: reading the incremental data and/or the SSI data at a preset time interval, comparing the incremental data read in two times and/or comparing the SSI data read in two times, and determining whether the rotary encoder to be tested is normal or not based on whether the incremental data read in two times jump or not and/or whether the SSI data read in two times jump or not.
Whether or not a jump occurs here includes whether or not the degree of the jump is greater than a threshold value. The predetermined time interval may be 100 mus, but this is merely an example, and the processor 40 may be constituted by a Digital Signal Processor (DSP) chip in which an algorithm, program or instruction or the like may be run, which is mainly used to monitor SSI data and/or incremental data in real time during rotation of the rotary encoder and determine whether the rotary encoder under test is normal.
As shown in fig. 1, the first interface circuit 30 may include a first incremental interface circuit 301 and/or a first SSI interface circuit 302, and the first incremental interface circuit 301 and the first SSI interface circuit 302 may be electrically connected between the rotary encoder 20 to be tested and the processor 40, respectively.
The first incremental interface circuit 301 may parse the first incremental data from the output signal of the rotary encoder 20 to be tested, and the first SSI interface circuit 302 may parse the first SSI data from the output signal.
The first incremental data may include rotation angle data, angular velocity data, and the like, and the first SSI data may include single-turn data, multi-turn data, and the like. The output signals or data of various types of rotary encoders can thereby be adapted via the incremental interface circuit and the SSI interface circuit.
The processor 40 may read the first incremental data from the first incremental interface circuit 301 and/or the first SSI data from the first SSI interface circuit 302 in real time at predetermined time intervals within a predetermined test period, and determine whether the rotary encoder to be tested is normal based on whether the first incremental data read in two times before and after are jumped and/or based on whether the first SSI data read in two times before and after are jumped.
The predetermined test period may be one or more test periods, where a test period may refer to a time for the rotary encoder to rotate from the forward direction to the maximum measurement range (e.g., 4096 circles) and then rotate in the reverse direction to the reverse maximum measurement range (e.g., 4096 circles), and the number of test periods may be defined as 5, which is adjustable, and the greater the number of test periods, the greater the probability that the rotary encoder to be tested will be detected, the greater the number of test periods, the longer the test time, and the less suitable the rotary encoder to be mass-produced for use.
It may be determined whether the rotary encoder under test is normal based on a threshold determination method, for example, in SSI data, a maximum of 2 is provided for single turn data124096, 2 for each 360 ° turn13The maximum value of the single-turn data difference (single-turn data difference value) detected twice before and after (8192 binary number representation) can be limited to a predetermined threshold value such as 10, when the maximum value is greater than 10, the jump of the rotary encoder can be determined, the abnormity of the rotary encoder occurs, in addition, the value can be related to the detection frequency and the motor rotating speed, the higher the frequency is, the smaller the value is, and the vice versa is.
For another example, in SSI data, the maximum of 2 is single turn data124096, the maximum number of turns of the rotary encoder in the detection interval can be defined as 2 (this value can be set according to the rotation speed of the motor and the sampling interval, for example only), and when the change of the data of the two previous and next detection turns is less than or equal to 2, the normal state of the rotary encoder can be determined, and when the change is greater than 2, the normal state of the rotary encoder can be determinedThe transcoder is abnormal.
The difference between the angle data and the angular velocity data, such as the incremental data, may be set similarly to the difference between the SSI data, and the threshold determination method for determining whether to jump is also similar, which is not described herein again.
Fig. 2 is a block diagram showing a detection apparatus of a second embodiment of the present invention.
As shown in fig. 2, the detecting apparatus of the rotary encoder according to the second embodiment of the present invention may include a dual-axis motor 11, a first interface circuit 30, a second interface circuit 31, and a processor 40.
The reference rotary encoder 50 may be connected to the biaxial motor 11 via a first coupling 12, and the rotary encoder 20 to be tested may be connected to the biaxial motor 11 via a second coupling 13.
The shaft coupling can be used for connecting a shaft of the motor and a shaft of the rotary encoder so as to achieve the purpose that the rotary encoder and the motor rotate synchronously in the same direction.
In contrast to the first embodiment, the detection apparatus of the second embodiment may further include a second interface circuit 31 in addition to the motor being a dual-shaft motor. The second interface circuit 31 and the first interface circuit 30 may have the same configuration.
For example, the second interface circuit 31 may include a second incremental interface circuit 311 and/or a second SSI interface circuit 312, the second incremental interface circuit 311 and the second SSI interface circuit 312 may be electrically connected between the reference rotary encoder 50 and the processor 40, respectively, the second incremental interface circuit 311 may parse the second incremental data from the output signal of the reference rotary encoder 50, and the second SSI interface circuit 312 may parse the second SSI data from the output signal of the reference rotary encoder 50.
When the rotary encoder to be measured is normal, the second incremental data may be the same as the first incremental data, and the second SSI incremental data may be the same as the first SSI incremental data.
When the rotary encoder to be measured is abnormal, the second incremental data and the first incremental data jump (or a difference occurs between the second incremental data and the first incremental data), and the second SSI incremental data and the first SSI incremental data jump (or a difference occurs between the second incremental data and the first SSI incremental data).
According to the embodiment of the invention, the reference rotary encoder can be introduced to detect and determine the state of the rotary code to be detected, so that the detection accuracy is improved, and the influence of noise on the detection accuracy is prevented. Compared with a determination mode of judging whether jumping occurs only based on data output by the rotary encoder to be detected, the method greatly improves detection accuracy and reduces the influence of noise on detection accuracy. That is, even if external noise exists, the influence of the external noise on the rotary encoder to be measured and the reference rotary encoder is substantially the same, and the difference between the external noise and the reference rotary encoder can substantially cancel the influence of the noise.
Optionally, the processor 40 may further compare the first incremental data and the second incremental data acquired at the same time, and further determine whether the rotary encoder under test is normal based on whether a difference between the first incremental data and the second incremental data exceeds a first threshold.
Further, processor 40 may further or otherwise compare the first SSI data and the second SSI data acquired at the same time and further or otherwise determine whether the rotary encoder under test is normal based on whether a difference between the first SSI data and the second SSI data exceeds a second threshold.
The size of the threshold (including the first threshold and the second threshold) may be similar to the threshold of the transition degree when determining whether the transition occurs based on the output data of the threshold alone, and will not be described herein again.
Further, the processor may further determine whether the to-be-tested rotary encoder is normal based on whether the rotation directions of the dual-axis motor 11, the to-be-tested rotary encoder 20, and the reference rotary encoder 50 are the same, and may determine that the to-be-tested rotary encoder 20 is normal when the rotation directions of the three are the same and the above difference values are within the threshold range.
When determining whether the state of the rotary encoder 20 to be measured is normal or not by three of whether the output data of the rotary encoder to be measured jumps or not, whether the difference between the output data of the rotary encoder to be measured and the output data of the reference rotary encoder is within the threshold range or not, and whether the rotation directions of the dual-axis motor 11, the rotary encoder 20 to be measured and the reference rotary encoder 50 are the same or not, it is possible to accurately determine the accuracy and quality of the rotary encoder to be measured, and reduce the influence of external noise.
Based on the type of rotary encoder or the difference in output data, determining that the rotary encoder is normal may include at least one of:
the position value of the rotary encoder is continuously accumulated when the rotary encoder rotates forwards, and the position value is continuously decreased when the rotary encoder rotates backwards; the range of values in which the rotational speed is added up or decreased at a predetermined rotational speed (e.g., 1500 revolutions) is within a predetermined range (e.g., 10) (i.e., when the value added up or decreased is not more than 10, the rotary encoder is normal); the incremental channel value and absolute value comparison deviation of the rotary encoder to be detected is smaller than a preset value (for example, 5); the contrast deviation between the incremental channel value and the absolute value of the to-be-detected rotary encoder and the reference rotary encoder is smaller than a preset value (for example, 3); the rotary encoder can return to zero after being reset; the direction of the incremental signal coincides with the direction of the motor.
In addition, as shown in fig. 2, the detection apparatus according to the embodiment of the present invention may further include auxiliary components such as a motor driving circuit 60, an AC/DC power supply 70, a liquid crystal display 80, and a memory 90. The motor driving circuit 60 may be electrically connected between the motor 10 or the dual-shaft motor 11 and the processor 40, and the processor 40 may control the rotation speed and direction of the motor through the circuit.
FIG. 3 is a flow chart illustrating a detection method of an embodiment of the present invention.
The detection method according to an embodiment of the present invention may include:
s310: reading first incremental data and/or first SSI data of a first interface circuit electrically connected with an output end of a rotary encoder to be tested and driven to rotate by a motor at preset time intervals; and comparing the first incremental data read two times before and after and/or comparing the first SSI data read two times before and after.
S320: and determining whether the rotary encoder to be tested is normal or not based on whether the first incremental data read in the two times before and after jump or not and/or whether the first SSI data read in the two times before and after jump or not.
For example, when it is determined in step S330 that a jump occurs, it may be determined in step S390 that the rotary encoder to be tested has a fault, and if it is determined in step S330 that no jump occurs, it may be determined that the rotary encoder to be tested has no fault. For example, a reference rotary encoder may be introduced for detection and determination.
The detection method according to an embodiment of the present invention may further include: step S340, reading second incremental data and/or second SSI data of a second interface circuit electrically connected to the output terminal of the reference rotary encoder rotated by the motor at predetermined time intervals.
The detection method according to an embodiment of the present invention may further include: step S350, comparing the first incremental data and the second incremental data acquired at the same time; in step S360, it is determined whether a difference between the first incremental data and the second incremental data is jumped (i.e., it is determined whether the difference between the first incremental data and the second incremental data is within a predetermined range or exceeds a first threshold). If the jump occurs, it can be determined that the rotary encoder to be tested has a fault, and if the jump does not occur, it can be determined that the rotary encoder to be tested has no fault (the technical state is normal). .
Alternatively, in the case where it is determined that no jump has occurred, further detection and judgment may be made, and for example, whether the rotary encoder under test is normal may be determined (e.g., further determined) based on whether the rotation directions of the motor, the rotary encoder under test, and the reference rotary encoder are the same at step S370.
For example, when the rotation directions of the motor, the rotary encoder under test, and the reference rotary encoder are the same, it may be determined in step S380 that the rotary encoder under test is normal.
Although step S350 compares the first incremental data with the second incremental data, and step S360 determines whether a difference between the first incremental data and the second incremental data has hopped, the first SSI data and the second SSI data acquired at the same time may be or are additionally compared at step S350, and whether the rotary encoder to be tested is normal is determined at step S360 based on whether a difference between the first SSI data and the second SSI data has hopped.
If jumping occurs, the fault of the rotary encoder can be determined, and if jumping does not occur, the normal of the rotary encoder to be tested can be determined.
Alternatively, in the case where it is determined that no jump has occurred, further detection and determination may be made, for example, whether the rotary encoder under test is normal may be determined (e.g., further determined) based on whether the rotation directions of the motor, the rotary encoder under test, and the reference rotary encoder are the same at step S370. Specifically, when the difference between the first incremental data and the second incremental data does not exceed the first threshold, the difference between the first SSI data and the second SSI data does not exceed the second threshold, and the rotation directions of the motor, the rotary encoder to be measured and the reference rotary encoder are the same, it is determined that the rotary encoder to be measured is normal.
The predetermined time interval here may be 100 μ s, but this is merely an example and the embodiment of the present invention is not limited thereto. In addition, as described above, the first incremental data may include rotation angle data and angular velocity data of the rotary encoder to be measured, etc., the first SSI data may include single-turn data and multi-turn data of the rotary encoder to be measured, etc., the second incremental data may include rotation angle data and angular velocity data of the reference rotary encoder, etc., and the second SSI data may include single-turn data and multi-turn data of the reference rotary encoder, etc., and the incremental data and the SSI data may be different depending on the type of the rotary encoder.
In the present invention, the threshold range, etc. may be related to the detection frequency and the motor rotation speed, etc., and may be set manually according to this or actual needs.
The detection device and the detection method provided by the embodiment of the invention can be suitable for detecting the rotary encoder of the pitch system and can also be suitable for detecting the rotary encoders in other fields.
The circuitry/processors in fig. 1-2 that perform the operations described in this application are implemented by hardware components configured to perform the operations described in this application as being performed by the hardware components.
According to various embodiments of the present disclosure, an apparatus (e.g., a module or their functions) or a method may be implemented by a program or instructions stored in a computer-readable storage medium. In the case where the instruction is executed by a processor, the processor may perform a function corresponding to the instruction or perform a method corresponding to the instruction.
The computer readable storage medium may be a memory. At least a portion of the modules may be implemented (e.g., executed) by a processor. At least a portion of the programming modules may include modules, programs, routines, instruction sets, and procedures for performing at least one function. In one example, the instructions or software include machine code that is directly executed by one or more processors or computers (such as machine code produced by a compiler). In another example, the instructions or software comprise higher level code that is executed by one or more processors or computers using an interpreter. The instructions or software may be written in any programming language based on the block diagrams and flow diagrams illustrated in the figures and the corresponding description in the specification.
Computer readable storage media include magnetic media such as floppy disks and magnetic tapes, optical media including Compact Disc (CD) ROMs and DVD ROMs, magneto-optical media such as floppy disks, hardware devices such as ROMs, RAMs, and flash memories designed to store and execute program commands. The program command includes a language code executable by a computer using an interpreter and a machine language code generated by a compiler. The hardware devices described above may be implemented by one or more software modules for performing the operations of the various embodiments of the present disclosure.
A module or programming module of the present disclosure may include at least one of the foregoing components with some components omitted or other components added. Operations of the modules, programming modules, or other components may be performed sequentially, in parallel, in a loop, or heuristically. Further, some operations may be performed in a different order, may be omitted, or expanded with other operations.
The detection device and the method according to the embodiment of the invention can accurately determine whether the rotary encoder is normal.
The detection device and the detection method provided by the embodiment of the invention have strong compatibility, and can be used for testing all types of rotary encoders.
The detection device and the detection method of the embodiment of the invention introduce the reference rotary encoder to detect the precision and data of the rotary encoder to be detected.
According to the detection device and the detection method provided by the embodiment of the invention, the states of the reference rotary encoder, the rotary encoder to be detected and the motor are compared in real time to determine the precision and the quality of the rotary encoder to be detected.
While various embodiments of the present disclosure have been described using specific terms, the specification and drawings are to be regarded in an illustrative rather than a restrictive sense to assist in understanding the present disclosure. Various modifications and changes may be made by those skilled in the art without departing from the broader spirit and scope of the disclosure (e.g., features of different embodiments may be combined or substituted equivalently to some features). Therefore, the scope of the present disclosure is defined not by the detailed description and examples but by the claims and their equivalents.
Claims (16)
1. A detecting device of a rotary encoder, comprising:
a motor (10) connected to a rotary encoder (20) to be measured;
a first interface circuit (30) electrically connected to the rotary encoder under test (20) and resolving incremental data and/or SSI data from an output signal of the rotary encoder under test (20);
a processor (40) electrically connected to the first interface circuit (30), the processor (40) configured to: reading the incremental data and/or the SSI data at a preset time interval, comparing the incremental data read in two times and/or comparing the SSI data read in two times, and determining whether the rotary encoder to be tested is normal or not based on whether the incremental data read in two times jump or not and/or whether the SSI data read in two times jump or not.
2. The detecting device of the rotary encoder as claimed in claim 1, wherein the first interface circuit (30) includes a first incremental interface circuit (301) and/or a first SSI interface circuit (302), the first incremental interface circuit (301) and the first SSI interface circuit (302) are electrically connected between the rotary encoder (20) to be tested and the processor (40), respectively, the first incremental interface circuit (301) parses first incremental data from the output signal of the rotary encoder (20) to be tested, and the first SSI interface circuit (302) parses first SSI data from the output signal.
3. The detection apparatus of a rotary encoder according to claim 2, wherein the processor (40) is configured to: reading the first incremental data from the first incremental interface circuit (301) in real time and/or reading the first SSI data from the first SSI interface circuit (302) in real time at preset time intervals in a preset test period, and determining whether the rotary encoder to be tested is normal or not based on whether the first incremental data read in two times are jumped or not and/or whether the first SSI data read in two times are jumped or not.
4. The detecting device of a rotary encoder according to claim 2, characterized in that the motor (10) is a two-axis motor (11), the detecting device further comprising:
a reference rotary encoder (50) connected to the two-axis motor (11) via a first coupling (12), the rotary encoder (20) to be tested being connected to the two-axis motor (11) via a second coupling (13).
5. The detection apparatus of claim 4, further comprising a second interface circuit (31), wherein the second interface circuit (31) comprises a second incremental interface circuit (311) and a second SSI interface circuit (312), the second incremental interface circuit (311) and the second SSI interface circuit (312) are respectively electrically connected between the reference rotary encoder (50) and the processor (40), the second incremental interface circuit (311) resolves the second incremental data from the output signal of the reference rotary encoder (50), and the second SSI interface circuit (312) resolves the second SSI data from the output signal of the reference rotary encoder (50).
6. The detection apparatus of a rotary encoder according to claim 5, wherein the processor (40) is further configured to: comparing the first incremental data and the second incremental data acquired at the same time, and determining whether the rotary encoder under test is normal further based on whether a difference between the first incremental data and the second incremental data exceeds a first threshold; and/or the presence of a gas in the gas,
the processor (40) compares the first SSI data and the second SSI data obtained at the same time and further determines whether the rotary encoder under test is normal based on whether a difference between the first SSI data and the second SSI data exceeds a second threshold.
7. The device for detecting a rotary encoder according to claim 6, wherein the processor (40) is further configured to determine whether the rotary encoder under test is normal based on whether the rotation directions of the dual-axis motor (11), the rotary encoder under test (20) and the reference rotary encoder (50) are the same.
8. The detection apparatus of a rotary encoder according to claim 7, wherein the processor (40) is further configured to: determining that the rotary encoder to be tested is normal in response to the difference between the first incremental data and the second incremental data not exceeding the first threshold, the difference between the first SSI data and the second SSI data not exceeding the second threshold, and the rotation directions of the dual-shaft motor (11), the rotary encoder to be tested (20) and the reference rotary encoder (50) being the same.
9. The rotary encoder detection device as recited in any of claims 1-8, wherein the incremental data comprises rotational angle data and angular velocity data, and the SSI data comprises single turn data and multi turn data.
10. A method of detecting a rotary encoder, comprising:
reading first incremental data and/or first SSI data of a first interface circuit electrically connected with an output end of a rotary encoder to be tested and driven to rotate by a motor at preset time intervals;
comparing the first incremental data read in two times and/or comparing the first SSI data read in two times;
and determining whether the rotary encoder to be tested is normal or not based on whether the first incremental data read in the two times and/or whether the first SSI data read in the two times jump or not.
11. The detecting method of a rotary encoder according to claim 10, further comprising:
and reading second incremental data and/or second SSI data of a second interface circuit electrically connected with the output end of the reference rotary encoder rotated by the motor at preset time intervals.
12. The detecting method of a rotary encoder according to claim 11, further comprising:
comparing the first incremental data and the second incremental data acquired at the same time, and determining whether the rotary encoder to be tested is normal based on whether a difference between the first incremental data and the second incremental data exceeds a first threshold; and/or the presence of a gas in the gas,
comparing the first SSI data and the second SSI data acquired at the same time, and determining whether the rotary encoder to be detected is normal or not based on whether the difference value between the first SSI data and the second SSI data exceeds a second threshold or not.
13. The detecting method of a rotary encoder according to claim 12, further comprising: and determining whether the rotary encoder to be tested is normal or not based on whether the rotating directions of the motor, the rotary encoder to be tested and the reference rotary encoder are the same or not.
14. The detecting method of claim 13, wherein it is determined that the rotary encoder under test is normal when the difference between the first incremental data and the second incremental data does not exceed the first threshold, the difference between the first SSI data and the second SSI data does not exceed the second threshold, and the rotation directions of the motor, the rotary encoder under test and the reference rotary encoder are the same.
15. The method as claimed in claim 11, wherein the first incremental data includes rotation angle data and angular velocity data of the rotary encoder to be tested, the first SSI data includes single-turn data and multi-turn data of the rotary encoder to be tested, the second incremental data includes rotation angle data and angular velocity data of the reference rotary encoder, and the second SSI data includes single-turn data and multi-turn data of the reference rotary encoder.
16. A computer-readable storage medium, characterized by a program or instructions stored with a program or instructions that, when executed by a processor, performs the detection method of a rotary encoder according to any one of claims 10 to 15.
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