CN114608629A - Incremental encoder based on AMR technology - Google Patents
Incremental encoder based on AMR technology Download PDFInfo
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- CN114608629A CN114608629A CN202111287786.6A CN202111287786A CN114608629A CN 114608629 A CN114608629 A CN 114608629A CN 202111287786 A CN202111287786 A CN 202111287786A CN 114608629 A CN114608629 A CN 114608629A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
- G01D5/2451—Incremental encoders
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Abstract
The invention discloses an incremental encoder based on an AMR (adaptive multi-rate) technology, which comprises an encoder base, wherein an encoder induction circuit and a signal processing circuit board are arranged on the encoder base, a motor rotor shaft is arranged below the encoder base, and a radial magnetizing permanent magnet is arranged at the top of the motor rotor shaft. The encoder base is used for bearing the sensing circuit and the signal processing circuit board and has a positioning function. Above-mentioned technical scheme is through optimizing to the encoder structure, and encoder induction circuit and signal processing circuit board realize responding to the magnetic field angle change that radial magnetizing permanent magnet produced, turn into corresponding voltage change with rotatory magnetic field angle, then obtain the rotatory angle of motor rotor axle to convert angle information into the increment signal output of corresponding resolution ratio, compare in traditional photoelectric encoder, adopt permanent magnet and AMR technique induction position, shock resistance and immunity all improve greatly.
Description
Technical Field
The invention relates to the technical field of measuring equipment, in particular to an incremental encoder based on an AMR (adaptive multi-rate) technology.
Background
The incremental encoder is a rotation angle sensor without an absolute zero position, and can measure the rotation angle, the angular speed and the angular acceleration of a shaft; the pulse signals collected by the reading head are converted into the angle, the angular velocity and the angular acceleration of the rotating shaft by using an electronic technology. Incremental encoders are widely used because of their relatively simple manufacturing process, relatively high angular resolution, and relatively low production cost.
With the continuous development of the industry 4.0, the requirement of control accuracy is continuously improved, the servo control system is widely applied, and the encoder is used as an important position feedback unit of the servo system, so that the importance is self-evident. The encoder in the market at present mainly uses a photoelectric encoder which is high in price, complex to install, high in process requirement, poor in anti-interference performance and the like, so that the encoder cannot be used in many occasions.
Chinese patent document CN107671414A discloses an "incremental encoder method". The device comprises a cylindrical turntable, a magnetic grid ruler, a first magnetic grid reading head, a second magnetic grid reading head and a data processing circuit; the magnetic grid ruler is circumferentially arranged on the side surface of the cylindrical turntable and rotates along with the rotation of the cylindrical turntable; the first magnetic grid reading head and the second magnetic grid reading head are fixedly arranged at positions away from the magnetic grid ruler by a preset distance, are positioned on a straight line where the same diameter of the cylindrical turntable is located, and are both used for recording data information of the magnetic grid ruler in the rotating process of the cylindrical turntable to respectively obtain first data and second data; and the data processing circuit is used for obtaining the rotation parameters corresponding to the cylindrical rotary table according to the first data and the second data. The technical scheme has the advantages of complex installation, high process requirement and poor anti-interference performance, and can not be used in many occasions.
Disclosure of Invention
The invention mainly solves the technical problems that the original technical scheme is complex to install, high in process requirement and poor in anti-interference performance, and therefore cannot be used in many occasions, and provides an incremental encoder based on the AMR technology.
The technical problem of the invention is mainly solved by the following technical scheme: the permanent magnet linear motor comprises an encoder base, wherein an encoder induction circuit and a signal processing circuit board are arranged on the encoder base, a motor rotor shaft is arranged below the encoder base, and a radial magnetizing permanent magnet is arranged at the top of the motor rotor shaft. The encoder base is used for bearing the sensing circuit and the signal processing circuit board and has a positioning function. When the motor rotates, the rotor shaft of the motor can drive the radial magnetizing permanent magnets to rotate together, and the direction of a magnetic field generated by the radial magnetizing permanent magnets can also rotate together. The angle change of the magnetic field generated by the radial magnetizing permanent magnet is induced, the rotating angle of the magnetic field is converted into corresponding voltage change, the rotating angle of the rotor shaft of the motor is calculated through an algorithm, and angle information is converted into an incremental signal corresponding to resolution ratio and output. And the differential signals are adopted to output ABZ signals and UVW signals, so that the anti-interference capability of the signals is improved.
Preferably, encoder base upper surface central point put and be equipped with the spacing arch that is used for encoder induction circuit and signal processing circuit board location, encoder base upper surface is close to the edge and evenly is equipped with a plurality of bosss, be equipped with circuit board fastening screw hole and spacing post on every boss. Spacing arch and spacing post are used for making things convenient for the location between encoder induction circuit and the signal processing circuit board and encoder base and the motor, and the installation is simple, and circuit board fastening screw hole is used for fixing encoder induction circuit and signal processing circuit board on the encoder base, guarantees the fastness between induction circuit and signal processing circuit board and the base, avoids leading to shifting because of vibrations, influences the encoder effect.
Preferably, the limiting bulges are two cuboids arranged in parallel, and grooves corresponding to the limiting bulges are arranged on the lower surfaces of the encoder sensing circuit and the signal processing circuit board. The limiting bulges are matched with the grooves on the lower surfaces of the encoder induction circuit and the signal processing circuit board so as to ensure the concentricity of the base and the radial magnetizing permanent magnet.
Preferably, the left side and the right side of the encoder base are respectively provided with a groove, an encoder signal output interface is arranged in the groove on one side, and a zero setting modification parameter interface is arranged in the groove on the other side. The encoder signal output interface is used for outputting encoder signals, and the zeroing modification parameter interface is used for realizing parameter zeroing modification of the external equipment.
Preferably, the front side and the rear side of the encoder base are respectively provided with an encoder base fine tuning positioning hole, and the encoder base fine tuning positioning holes are arc-shaped through holes for fixing the encoder base. The arc-shaped through hole is used for rotating the base to realize fine adjustment while ensuring the concentricity of the encoder base and the radial magnetizing permanent magnet.
Preferably, the side surface of the radial magnetizing permanent magnet is provided with a plurality of motor rotor shaft fastening screw holes for fixing the radial magnetizing permanent magnet, and the radial magnetizing permanent magnet is fixed at the top end of the motor rotor shaft through screws. The radial magnetizing permanent magnet is fixed at the top end of a motor rotor shaft through a screw, and the distance between the radial magnetizing permanent magnet and the AMR induction circuit is 2mm, so that when the motor rotates, the rotating shaft can drive the permanent magnet to rotate together, and the direction of a magnetic field generated by the permanent magnet can also rotate together.
Preferably, the encoder sensing circuit and the signal processing circuit board are provided with a system for realizing encoding, the encoding system comprises an LDO power supply, a power supply filtering device, a biorthogonal Wheatstone bridge, a hardware filtering circuit, an operational amplification circuit, an A/D conversion module and a control chip which are sequentially connected, the control chip is respectively connected with the parameter adjusting interface and the logic output module, and the logic output module is connected with the differential driving circuit.
Preferably, the edge of the encoder sensing circuit and the signal processing circuit board is provided with an encoder sensing circuit and a signal processing circuit board fixing hole which respectively correspond to the circuit board fastening screw hole and the limiting column, and gaps are formed in two sides of the encoder sensing circuit and two sides of the signal processing circuit board. The circuit board fixed orifices are used for fixing the encoder sensing circuit and the signal processing circuit board on the encoder base, and the gaps on the two sides of the encoder sensing circuit and the signal processing circuit board are used for yielding the lug boss on the encoder base and assisting in limiting.
Preferably, a dustproof cover is arranged above the encoder sensing circuit and the signal processing circuit board, a buckle used for being fixedly connected with the encoder base is arranged at the lower edge of the dustproof cover, and a groove is formed in the side face of the dustproof cover. The dustproof cover covers the sensing circuit and the signal processing circuit board, and the cover and the base are connected through a buckle, so that dust is prevented from affecting the circuit board.
Preferably, the motor rotor shaft faces the center position of the AMR sensing circuit in the encoder sensing circuit and the signal processing circuit board, and a plurality of base fastening screw holes for fixing the encoder base are formed in the upper surface of the motor around the motor rotor shaft. The AMR induction circuit is required to be ensured to be right above the center of the magnetic field so as to improve the overall precision of the encoder, and the base fastening screw hole is matched with the fine adjustment positioning hole of the encoder base to realize the fixation of the encoder base.
The invention has the beneficial effects that: through optimizing to the encoder structure, encoder induction circuit and signal processing circuit board realize the magnetic field angle change that the radial magnet that magnetizes produced, turn into corresponding voltage change with rotatory magnetic field angle, then obtain the rotatory angle of motor rotor axle to convert angle information into the increment signal output of corresponding resolution ratio, compare in traditional photoelectric encoder, adopt permanent magnet and AMR technique to respond to the position, shock resistance and immunity all improve greatly.
Drawings
FIG. 1 is a cross-sectional view of an encoder of the present invention.
Fig. 2 is an exploded view of an encoder of the present invention.
Fig. 3 is a block diagram of a circuit schematic connection structure of the present invention.
In the figure, 1 an encoder base, 2 radial magnetizing permanent magnets, 3 motor rotor shafts, 4 encoder induction circuits, 4 signal processing circuit boards, 5 dustproof cover caps, 6 base fastening screw holes, 7 encoder base fine-tuning positioning holes, 8 encoder signal output interfaces, 9 dustproof cover cap buckles, 10 limiting bulges, 11 circuit board fastening screw holes, 12 zero-setting modification parameter interfaces, 13 limiting columns and 14 motor rotor shaft fastening screw holes are arranged.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.
Example (b): an incremental encoder based on AMR technique of this embodiment, as shown in FIG. 1, FIG. 2, includes encoder base 1, be equipped with encoder induction circuit and signal processing circuit board 4 on the encoder base 1, encoder base 1 below is equipped with electric motor rotor axle 3, electric motor rotor axle 3 top is equipped with radial permanent magnet 2 that magnetizes. The encoder base is used for bearing the sensing circuit and the signal processing circuit board and has a positioning function. When the motor rotates, the rotor shaft of the motor can drive the radial magnetizing permanent magnets to rotate together, and the direction of a magnetic field generated by the radial magnetizing permanent magnets can also rotate together. The angle change of the magnetic field generated by the radial magnetizing permanent magnet is induced, the rotating angle of the magnetic field is converted into corresponding voltage change, the rotating angle of the rotor shaft of the motor is calculated through an algorithm, and angle information is converted into an incremental signal corresponding to resolution ratio and output. And the differential signals are adopted to output ABZ signals and UVW signals, so that the anti-interference capability of the signals is improved.
Encoder base 1 upper surface central point puts and is equipped with the spacing arch 10 that is used for encoder induction circuit and signal processing circuit board 4 location, and spacing arch 10 is two cuboids of parallel arrangement, encoder induction circuit is equipped with the recess that corresponds spacing arch 10 with signal processing circuit board 4 lower surface. Encoder base 1 upper surface is close to the edge and evenly is equipped with a plurality of bosss, be equipped with circuit board fastening screw hole 11 and spacing post 13 on every boss. Spacing arch and spacing post are used for making things convenient for the location between encoder induction circuit and the signal processing circuit board and encoder base and the motor, and the installation is simple, and circuit board fastening screw hole is used for fixing encoder induction circuit and signal processing circuit board on the encoder base, guarantees the fastness between induction circuit and signal processing circuit board and the base, avoids leading to shifting because of vibrations, influences the encoder effect. The left side and the right side of the encoder base 1 are respectively provided with a groove, an encoder signal output interface 8 is arranged in the groove on one side, and a zero setting modification parameter interface 12 is arranged in the groove on the other side. The limiting bulges are matched with the grooves on the lower surfaces of the encoder induction circuit and the signal processing circuit board so as to ensure the concentricity of the base and the radial magnetizing permanent magnet. Encoder base fine setting locating hole 7 is equipped with respectively to encoder base 1 front and back both sides, encoder base fine setting locating hole 7 is for being used for the fixed arc through hole of encoder base 1.
The side surface of the radial magnetizing permanent magnet 2 is provided with a plurality of motor rotor shaft fastening screw holes 14 for fixing the radial magnetizing permanent magnet 2, and the radial magnetizing permanent magnet 2 is fixed at the top end of the motor rotor shaft 3 through screws. The radial magnetizing permanent magnet is fixed at the top end of a motor rotor shaft through a screw, and the distance between the radial magnetizing permanent magnet and the AMR induction circuit is 2mm, so that when the motor rotates, the rotating shaft can drive the permanent magnet to rotate together, and the direction of a magnetic field generated by the permanent magnet can also rotate together.
The encoder sensing circuit and the signal processing circuit board 4 are provided with a system for realizing encoding, the encoding system comprises an LDO power supply, a power supply filtering device, a biorthogonal Wheatstone bridge, a hardware filtering circuit, an operational amplification circuit, an A/D conversion module and a control chip which are sequentially connected, the control chip is respectively connected with a parameter adjusting interface and a logic output module, and the logic output module is connected with a differential driving circuit. The LDO power supply: and stable working voltage and current are provided for the whole system. The power supply filtering device comprises: the voltage and current input into the whole system are more stable, and the influence of some noises and interference signals on the power supply is eliminated. Bi-orthogonal wheatstone bridge: the magnetic field angle sensor is used for sensing the magnetic field angle change and can convert the magnetic field angle change into a voltage signal output which is changed in pairs. A hardware filter circuit: the voltage signal output by the Wheatstone bridge is filtered, the influence of noise and interference is eliminated, and a more real and accurate voltage signal is provided for the operational amplification circuit. An operational amplifier circuit: and the filtered voltage is linearly amplified, so that the sampling operation is facilitated. An AD conversion module: and converting the analog quantity voltage signal into a digital signal which can be identified and operated by the MCU. The control chip calculates the angle: according to the periodic law of the angle change and the voltage change of the magnetic field, the special structure of the Wheatstone bridge enables the output horizontal direction voltage and the output vertical direction voltage of the Wheatstone bridge to be in sin and cos relation with the rotation angle of the magnetic field, so that in a mechanical period, the angle of the magnetic field at the moment can be calculated by combining sin and cos values to carry out inverse tangential transformation. A parameter adjusting interface: through SPI communication interface and external communication, the user can set up the relevant parameter of encoder through this interface to this output adjustable parameter that changes the encoder has: resolution, Z-phase pulse width, zero offset position. A logic output module: according to the resolution set by the user, one mechanical cycle is equally divided into corresponding parts, and the angle range corresponding to each part is fixed. For example: the resolution is 2500 lines, a period is equally divided into 10000 steps, namely 0.036 degrees is 1LSB, each pulse period of A phase and B phase is 4LSB, the output of Z phase can be 1, 2 or 4LSB according to the user setting, and the output level of A, B phase is controlled to be inverted once when the angle rotation increases or decreases the range of 2 LSB; when the Z phase is set to 1LSB, the Z phase is set to high output when the absolute angle information is less than 1LSB, otherwise, the Z phase is set to low. Differential drive circuit: and single-ended signals are converted into differential signals to be output, so that the transmission distance and the anti-interference capability are enhanced.
Encoder induction circuit and signal processing circuit board 4 edge are equipped with the encoder induction circuit and the signal processing circuit board 4 fixed orifices that correspond circuit board fastening screw hole 11 and spacing post 13 respectively, encoder induction circuit and signal processing circuit board 4 both sides are equipped with the breach. The circuit board fixed orifices are used for fixing the encoder sensing circuit and the signal processing circuit board on the encoder base, and the gaps on the two sides of the encoder sensing circuit and the signal processing circuit board are used for yielding the lug boss on the encoder base and assisting in limiting. Encoder induction circuit and 4 tops of signal processing circuit board are equipped with dust cover 5, 5 lower limb of dust cover are equipped with the buckle that is used for with 1 fixed connection of encoder base, 5 sides of dust cover are equipped with the recess. The circuit board fixed orifices are used for fixing the encoder sensing circuit and the signal processing circuit board on the encoder base, and the gaps on the two sides of the encoder sensing circuit and the signal processing circuit board are used for yielding the lug boss on the encoder base and assisting in limiting.
The motor rotor shaft 3 faces the center position of the AMR induction circuit in the encoder induction circuit and the signal processing circuit board 4, and a plurality of base fastening screw holes 6 used for fixing the encoder base 1 are formed in the upper surface of the motor around the motor rotor shaft 3. The AMR induction circuit is required to be ensured to be right above the center of the magnetic field so as to improve the overall precision of the encoder, and the base fastening screw hole is matched with the fine adjustment positioning hole of the encoder base to realize the fixation of the encoder base.
When the device works, the encoder is firstly installed, the power supply is switched on after the installation is finished, the magnetic field angle change is induced by the encoder induction circuit and the biorthogonal Wheatstone bridge on the signal processing circuit board 4, and the magnetic field angle change is converted into a voltage signal which is changed in pairs and is output. The hardware filter circuit filters the voltage signal output by the Wheatstone bridge, eliminates the influence of noise and interference, and provides a more real and accurate voltage signal for the operational amplification circuit. The operational amplification circuit linearly amplifies the filtered voltage, so that sampling operation is facilitated. The AD conversion module converts the analog quantity voltage signal into a digital signal which can be identified and operated by the MCU. According to the period law of the angle change and the voltage change of the magnetic field, the special structure of the Wheatstone bridge enables the output horizontal direction voltage and the output vertical direction voltage of the Wheatstone bridge to be in sin and cos relation with the rotation angle of the magnetic field, so that in a mechanical period, the sin and cos values are combined to carry out inverse tangential transformation, and the angle of the magnetic field at the moment can be calculated. Then the parameter adjusting interface communicates with the outside through the SPI communication interface, and a user can set related parameters of the encoder through the interface so as to change the output of the encoder. The logic output module equally divides a mechanical period into corresponding parts according to the resolution set by a user, and the angle range corresponding to each part is fixed. For example: the resolution is 2500 lines, a period is equally divided into 10000 steps, namely 0.036 degrees is 1LSB, each pulse period of A phase and B phase is 4LSB, the output of Z phase can be 1, 2 or 4LSB according to the user setting, and the output level of A, B phase is controlled to be inverted once when the angle rotation increases or decreases the range of 2 LSB; when the Z phase is set to 1LSB, the Z phase is set to high output when the absolute angle information is less than 1LSB, otherwise, the Z phase is set to low. And finally, the differential driving circuit converts the single-ended signal into a differential signal to be output, so that the transmission distance and the anti-interference capability are enhanced.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Although terms like encoder base, radially magnetized permanent magnet, etc. are used more herein, the possibility of using other terms is not excluded. These terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed as being without limitation to the spirit of the present invention.
Claims (10)
1. The incremental encoder based on the AMR technology is characterized by comprising an encoder base (1), an encoder sensing circuit and a signal processing circuit board (4) are arranged on the encoder base (1), a motor rotor shaft (3) is arranged below the encoder base (1), and a radial magnetizing permanent magnet (2) is arranged at the top of the motor rotor shaft (3).
2. The incremental encoder based on AMR technology according to claim 1, wherein the central position of the upper surface of the encoder base (1) is provided with a limit protrusion (10) for positioning the encoder sensing circuit and the signal processing circuit board (4), a plurality of bosses are uniformly arranged on the upper surface of the encoder base (1) near the edge, and each boss is provided with a circuit board fastening screw hole (11) and a limit column (13).
3. An incremental encoder based on AMR technology according to claim 2, characterized in that the limiting protrusions (10) are two cuboids arranged in parallel, and the lower surfaces of the encoder sensing circuit and the signal processing circuit board (4) are provided with grooves corresponding to the limiting protrusions (10).
4. An incremental encoder based on AMR technology according to claim 1, characterized in that the encoder base (1) is provided with grooves on the left and right sides, respectively, and an encoder signal output interface (8) is provided in the groove on one side, and a zero-setting modification parameter interface (12) is provided in the groove on the other side.
5. The incremental encoder based on AMR technology as recited in claim 1, wherein the encoder base (1) is provided with fine tuning positioning holes (7) at the front and back sides, and the fine tuning positioning holes (7) are arc-shaped through holes for fixing the encoder base (1).
6. An incremental encoder based on AMR technology according to claim 1, characterized in that, the side of the radial magnetizing permanent magnet (2) is provided with a plurality of motor rotor shaft fastening screw holes (14) for fixing the radial magnetizing permanent magnet (2), and the radial magnetizing permanent magnet (2) is fixed on the top end of the motor rotor shaft (3) through screws.
7. The incremental encoder based on AMR technology according to claim 1, wherein the encoder sensing circuit and the signal processing circuit board (4) are provided with a system for realizing encoding, the encoding system comprises an LDO power supply, a power supply filter device, a biorthogonal Wheatstone bridge, a hardware filter circuit, an operational amplifier circuit, an A/D conversion module and a control chip which are connected in sequence, the control chip is respectively connected with the parameter adjusting interface and the logic output module, and the logic output module is connected with the differential driving circuit.
8. The incremental encoder based on AMR technology according to claim 1, wherein the encoder sensing circuit and the signal processing circuit board (4) are provided with fixing holes corresponding to the circuit board fastening screw hole (11) and the limiting post (13), respectively, at the edges thereof, and the encoder sensing circuit and the signal processing circuit board (4) are provided with notches at both sides thereof.
9. An incremental encoder based on AMR technology according to claim 1, 7 or 8, characterized in that a dust cover (5) is arranged above the encoder sensing circuit and the signal processing circuit board (4), the lower edge of the dust cover (5) is provided with a buckle for fixedly connecting with the encoder base (1), and the side of the dust cover (5) is provided with a groove.
10. An incremental encoder based on AMR technology according to claim 1, 2, 4, 5 or 7, characterized in that the motor rotor shaft (3) is oriented to the center of the AMR sensing circuit in the encoder sensing circuit and signal processing circuit board (4), and the motor upper surface around the motor rotor shaft (3) is provided with a plurality of base fastening screw holes (6) for fixing the encoder base (1).
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