CN114928300A - Absolute encoder data Cyclic Redundancy Check (CRC) alarm processing method in industrial robot control - Google Patents

Absolute encoder data Cyclic Redundancy Check (CRC) alarm processing method in industrial robot control Download PDF

Info

Publication number
CN114928300A
CN114928300A CN202210691974.3A CN202210691974A CN114928300A CN 114928300 A CN114928300 A CN 114928300A CN 202210691974 A CN202210691974 A CN 202210691974A CN 114928300 A CN114928300 A CN 114928300A
Authority
CN
China
Prior art keywords
alarm
crc
encoder
period
processing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202210691974.3A
Other languages
Chinese (zh)
Other versions
CN114928300B (en
Inventor
夏亮
赵晓兀
王旭丽
谭先锋
曹祥
林树刚
巩炳杰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Chongqing Robotics Institute
Original Assignee
Chongqing Robotics Institute
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Chongqing Robotics Institute filed Critical Chongqing Robotics Institute
Priority to CN202210691974.3A priority Critical patent/CN114928300B/en
Publication of CN114928300A publication Critical patent/CN114928300A/en
Application granted granted Critical
Publication of CN114928300B publication Critical patent/CN114928300B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)

Abstract

The invention discloses an absolute encoder data Cyclic Redundancy Check (CRC) alarm processing method in industrial robot control, which comprises the processing of encoder data single-circle values, the processing of position feedback, the processing of speed feedback and the processing of torque current instructions. If CRC alarm continues to occur, single turn data will continue to be held. When the CRC alarm of the encoder is recovered, the single-circle data is updated. According to the invention, during CRC alarm, namely encoder data abnormity, a torque current instruction is kept stable to a great extent, and phenomena such as robot runaway and the like caused by current mutation are avoided. When the encoder data is restored, the torque current transitions from hold to update, achieving a smooth transition of the entire normal-fault-normal process.

Description

Absolute encoder data Cyclic Redundancy Check (CRC) alarm processing method in industrial robot control
Technical Field
The invention relates to the technical field of industrial robot encoders, in particular to an absolute encoder data Cyclic Redundancy Check (CRC) alarm processing method in industrial robot control.
Background
In servo control for a robot, a motor of an absolute encoder is often used. In actual production, the field environment is complex and changeable, so that the encoder cannot be interfered by various external factors. After the encoder is interfered, the returned data is easy to be mistaken, so that the cyclic redundancy check of the data does not pass through, and a CRC alarm is generated. The patent provides a processing method of servo after CRC alarm, which can effectively reduce the torque and speed fluctuation of a robot during CRC alarm and improve the stability.
The existing absolute encoder processing method has the defects that:
1. patent document CN111238548B discloses a signal acquisition and processing device and method for a non-image absolute type photoelectric encoder, "which solves the problem of low resolution of the photoelectric encoder, the device includes a photosensitive unit, an amplifier, an analog-to-digital converter, a microprocessor and a communication circuit, the microprocessor is loaded with a processing module connected to the communication circuit and an AD conversion module connected to the processing module, a coarse code signal obtained by the photosensitive unit is sent to the processing module after being subjected to analog-to-digital conversion by the AD conversion module, and a fine code signal obtained by the photosensitive unit is sent to the processing module after being sequentially subjected to amplification by the amplifier and analog-to-digital conversion by the analog-to-digital converter. The signal acquisition processing device of the invention avoids the problems of increased volume and complex installation and adjustment of the photoelectric encoder caused by increasing the original scribing number of the photoelectric code disc, and solves the technical problem of improving the resolution of the existing non-image absolute photoelectric encoder under the condition of not increasing the original scribing of the photoelectric code disc;
2. patent document CN109000689A discloses a data processing method of an absolute type photoelectric shaft angle encoder, "the method includes: the original signal of the encoder converts the current signal into a voltage signal through a current-limiting resistor; the original signal is divided into a fine code signal and a coarse code signal; the fine code signal and the coarse code signal directly enter a CPU processor with an AD converter; and respectively measuring the amplitude values of the fine code signal and the coarse code signal through a CPU (Central processing Unit), calculating to obtain a fine code fine value and a coarse code binary angle of the encoder, and finally converting to obtain an angle value of the encoder and outputting. The data processing method provided by the application does not use an amplifier, a comparator and a latch, namely the data processing system provided by the application removes the amplifier, the comparator and the latch on the basis of the traditional data processing system, thereby greatly reducing the circuit size of the data processing system and saving the cost;
3. patent document CN107218957A discloses an integrative electronic absolute value encoder device of electric door and window and data processing method thereof, "including magnetic ring, stand-by battery, electronic absolute value encoder tablet, quadrature optical encoder and magnetic induction switch, electronic absolute value encoder tablet pass the motor shaft with motor end cover fixed connection, the magnetic ring set up in between electronic absolute value encoder tablet and the grating piece, and pass the motor shaft with grating piece fixed connection, magnetic induction switch with the magnetic ring sets up relatively, and magnetic induction switch is no less than three, and the stand-by battery output is connected with the magnetic induction switch electricity. With quadrature optical encoder and magnetic induction switch integral type setting in the motor shaft, rotate through quadrature optical encoder drive motor, and acquire the absolute position of door through the magnetic induction switch to realize the high accuracy control of door, need not external quadrature optical encoder and in order to realize the acquireing of door position "
In conclusion, the torque current of the encoder of the industrial robot is unstable, so that danger is easily caused, and the encoder is not safe enough.
Disclosure of Invention
The invention aims to provide an absolute encoder data Cyclic Redundancy Check (CRC) alarm processing method in industrial robot control, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the method for processing the absolute encoder data Cyclic Redundancy Check (CRC) alarm in the industrial robot control comprises the processing of encoder data single-circle values, the processing of position feedback, the processing of speed feedback and the processing of torque current instructions, wherein the encoder CRC alarm is detected to occur in the period, the single-circle data is not updated in the period, and the value of the previous period is kept. If CRC alarm continues to occur, single turn data will continue to be held. And when the CRC alarm of the encoder is recovered, updating the single-circle data.
Preferably, the (CRC) alarm processing method is adopted, and the position feedback is in an incremental mode, namely the position feedback is equal to the accumulation of single-circle value increment delta of each period encoder;
Figure BDA0003700355000000031
Δ N ＝X N -X N-1 ，X N is the single-turn value, X, of the periodic encoder N-1 For the single-turn value of the last period encoder, N starts from the first period;
when the CRC alarm of the encoder is detected, the position feedback is still accumulated without special treatment. Since the single-turn value will remain during the CRC alarm, it can be concluded that the value of the position feedback accumulation is 0, i.e. will remain unchanged. When CRC alarm is recovered, certain conditions are met, and position feedback can be recovered to a correct value. The following conditions need to be satisfied:
within the CRC alarm duration, the motor rotation displacement is less than 0.5 circle, otherwise, the motor rotation direction cannot be distinguished, and the feedback position is wrong when the alarm is recovered. Converting the rotation displacement of 0.5 circle of the motor into CRC (the number of current loop cycles) continuous alarm times B max So as to realize the judgment of whether the condition is satisfied or not in the code;
Figure BDA0003700355000000032
t is the current loop period, the unit is microsecond, and speed is the highest rotating speed of the motor. When detectingUntil the alarm frequency exceeds B max And generating alarm prompt information.
Preferably, the encoder CRC alarm is detected to occur in the period, and the speed feedback is not updated in the period;
when it is continuously detected that the CRC alarm is recovered for 2 cycles or more, the speed feedback is updated in the 2 nd cycle.
Preferably, the current command is the output of a speed loop in the FOC;
the encoder CRC alarm is detected in the period, and the current instruction is not updated in the period;
when it is continuously detected that the CRC alarm is recovered for 2 cycles and more, the current command is updated at the 2 nd cycle and after the speed feedback update.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, during CRC alarm, namely encoder data abnormity, a torque current instruction is kept stable to a great extent, and phenomena such as robot runaway and the like caused by current mutation are avoided. When the encoder data is restored, the torque current transitions from hold to update, achieving a smooth transition of the entire normal-fault-normal process.
Drawings
FIG. 1 is a schematic flow chart of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1: referring to fig. 1, an embodiment of the present invention: the method for processing the Cyclic Redundancy Check (CRC) alarm of the absolute encoder data in the industrial robot control comprises the processing of a single-circle value of the encoder data, the processing of position feedback, the processing of speed feedback and the processing of a torque current instruction, wherein the encoder CRC alarm is detected to occur in the period, the single-circle data is not updated in the period, and the value of the previous period is kept. If CRC alarm continues to occur, single turn data will continue to be held. And when the CRC alarm of the encoder is recovered, updating the single-circle data.
Furthermore, the position feedback adopts an incremental mode, namely the position feedback is equal to the accumulation of single-circle value increment delta of each period of the encoder;
Figure BDA0003700355000000051
Δ N ＝X N -X N-1 ，X N is the single-turn value, X, of the periodic encoder N-1 For the single-turn value of the last period encoder, N starts from the first period;
when the CRC alarm of the encoder is detected, the position feedback is still accumulated without special treatment. Since the single-turn value will remain during the CRC alarm, it can be concluded that the value of the position feedback accumulation is 0, i.e. will remain unchanged. When CRC alarm is recovered, certain conditions are met, and position feedback can be recovered to a correct value. The following conditions need to be satisfied:
within the CRC alarm duration, the motor rotation displacement is less than 0.5 circle, otherwise, the motor rotation direction cannot be distinguished, and the feedback position is wrong when the alarm is recovered. Converting the rotation displacement of 0.5 circle of the motor into CRC (the number of current loop cycles) continuous alarm times B max So as to realize the judgment of whether the condition is satisfied or not in the code;
Figure BDA0003700355000000052
t is the current loop period, the unit is microsecond, and speed is the highest rotating speed of the motor. When the number of alarm times exceeds B max And generating alarm prompt information.
The encoder CRC alarm is detected to occur in the period, and the speed feedback is not updated in the period;
when the recovery of the CRC alarm for 2 cycles and above is continuously detected, the speed feedback is updated at the 2 nd cycle.
The current command is output of a speed loop in the FOC;
the encoder CRC alarm is detected in the period, and the current instruction is not updated in the period;
when it is continuously detected that the CRC alarm is recovered for 2 cycles and more, the current command is updated at the 2 nd cycle and after the speed feedback update.
Example 2: referring to fig. 1, an embodiment of the present invention: the method for processing the absolute encoder data Cyclic Redundancy Check (CRC) alarm in the industrial robot control comprises the processing of encoder data single-circle values, the processing of position feedback, the processing of speed feedback and the processing of torque current instructions, wherein the encoder CRC alarm is detected to occur in the period, the single-circle data is not updated in the period, and the value of the previous period is kept. If CRC alarm continues to occur, single turn data will continue to be held. When the CRC alarm of the encoder is recovered, the single-circle data is updated.
Furthermore, the position feedback adopts an incremental mode, namely the position feedback is equal to the accumulation of single-circle value increment delta of each period of the encoder;
Figure BDA0003700355000000061
Δ N ＝X N -X N-1 ，X N is the single-turn value, X, of the periodic encoder N-1 For the single-turn value of the last period encoder, N starts from the first period;
when the encoder CRC alarm is detected, the position feedback is still accumulated without special treatment. Since the single-turn value will remain during the CRC alarm, it can be concluded that the value of the position feedback accumulation is 0, i.e. will also remain unchanged. When CRC alarm is recovered, certain conditions are met, and position feedback can be recovered to a correct value. The following conditions need to be satisfied:
within the CRC alarm duration, the motor rotation displacement is less than 0.3 circle, otherwise, the motor rotation direction cannot be distinguished, and the feedback position error is caused when the alarm is recovered. Converting the rotation displacement of 0.5 circle of the motor into CRC (the number of current loop cycles) continuous alarm times B max So as to realize the judgment of whether the condition is satisfied or not in the code;
Figure BDA0003700355000000062
t is the current loop period, the unit is microsecond, and speed is the highest rotating speed of the motor. When the alarm times exceed B max And then, generating alarm prompt information.
The encoder CRC alarm is detected to occur in the period, and the speed feedback is not updated in the period;
when it is continuously detected that the CRC alarm is recovered for 3 cycles and more, the speed feedback is updated at the 3 rd cycle.
The current command is the output of a speed loop in the FOC;
the encoder CRC alarm is detected in the period, and the current instruction is not updated in the period;
when it is continuously detected that the CRC alarm is recovered for 3 cycles and more, the current command is updated at the 3 rd cycle and after the speed feedback update.
Example 3: referring to fig. 1, an embodiment of the present invention: the method for processing the Cyclic Redundancy Check (CRC) alarm of the absolute encoder data in the industrial robot control comprises the processing of a single-circle value of the encoder data, the processing of position feedback, the processing of speed feedback and the processing of a torque current instruction, wherein the encoder CRC alarm is detected to occur in the period, the single-circle data is not updated in the period, and the value of the previous period is kept. If CRC alarm continues to occur, single turn data will continue to be held. When the CRC alarm of the encoder is recovered, the single-circle data is updated.
Furthermore, the position feedback adopts an incremental mode, namely the position feedback is equal to the accumulation of the increment delta of the single-turn value of the encoder in each period;
Figure BDA0003700355000000071
Δ N ＝X N -X N-1 ，X N is the single-turn value, X, of the periodic encoder N-1 For the single-turn value of the last period encoder, N starts from the first period;
when the CRC alarm of the encoder is detected, the position feedback is still accumulated without special treatment. Since the single-turn value will remain during the CRC alarm, it can be concluded that the value of the position feedback accumulation is 0, i.e. will also remain unchanged. When CRC alarm is recovered, certain conditions are met, and position feedback can be recovered to a correct value. The following conditions need to be satisfied:
within the CRC alarm duration, the motor rotation displacement is less than 1 circle, otherwise, the motor rotation direction cannot be distinguished, and a feedback position error is caused when the alarm is recovered. Converting the rotation displacement of 1 circle of the motor into CRC (the number of current loop cycles) continuous alarm times B max So as to realize the judgment of whether the condition is satisfied or not in the code;
Figure BDA0003700355000000081
t is the current loop period, the unit is microsecond, and speed is the highest rotating speed of the motor. When the number of alarm times exceeds B max And generating alarm prompt information.
The encoder CRC alarm is detected in the period, and the speed feedback is not updated in the period;
when it is continuously detected that the CRC alarm is recovered for 2 cycles or more, the speed feedback is updated in the 2 nd cycle.
The current command is the output of a speed loop in the FOC;
the encoder CRC alarm is detected in the period, and the current instruction is not updated in the period;
when it is continuously detected that the CRC alarm is recovered for 2 cycles and more, the current command is updated at the 2 nd cycle and after the speed feedback update.
Example 4: referring to fig. 1, an embodiment of the present invention: the method for processing the absolute encoder data Cyclic Redundancy Check (CRC) alarm in the industrial robot control comprises the processing of encoder data single-circle values, the processing of position feedback, the processing of speed feedback and the processing of torque current instructions, wherein the encoder CRC alarm is detected to occur in the period, the single-circle data is not updated in the period, and the value of the previous period is kept. If CRC alarm continues to occur, single turn data will continue to be held. When the CRC alarm of the encoder is recovered, the single-circle data is updated.
Furthermore, the position feedback adopts an incremental mode, namely the position feedback is equal to the accumulation of single-circle value increment delta of each period of the encoder;
Figure BDA0003700355000000082
Δ N ＝X N -X N-1 ，X N is the single-turn value, X, of the periodic encoder N-1 For the single-turn value of the last period encoder, N starts from the first period;
when the encoder CRC alarm is detected, the position feedback is still accumulated without special treatment. Since the single-turn value will remain during the CRC alarm, it can be concluded that the value of the position feedback accumulation is 0, i.e. will remain unchanged. When CRC alarm is recovered, certain conditions are met, and the position feedback can be recovered to a correct value. The following conditions need to be satisfied:
within the CRC alarm duration, the motor rotation displacement is less than 0.5 circle, otherwise, the motor rotation direction cannot be distinguished, and the feedback position error is caused when the alarm is recovered. Converting the rotation displacement of 0.5 circle of the motor into CRC (the number of current loop cycles) continuous alarm times B max So as to realize the judgment of whether the condition is satisfied or not in the code;
Figure BDA0003700355000000091
t is the current loop period, the unit is microsecond, and speed is the highest rotating speed of the motor. When the alarm times exceed B max And then, generating alarm prompt information.
The encoder CRC alarm is detected to occur in the period, and the speed feedback is not updated in the period;
when it is continuously detected that the CRC alarm is recovered for 1 cycle or more, the speed feedback is updated at the 1 st cycle.
The current command is the output of a speed loop in the FOC;
the encoder CRC alarm is detected in the period, and the current instruction is not updated in the period;
when the CRC alarm is continuously detected to be recovered for 2 cycles and more, the current command is updated at the 2 nd cycle and after the speed feedback update.
Example 5: referring to fig. 1, an embodiment of the present invention: the method for processing the absolute encoder data Cyclic Redundancy Check (CRC) alarm in the industrial robot control comprises the processing of encoder data single-circle values, the processing of position feedback, the processing of speed feedback and the processing of torque current instructions, wherein the encoder CRC alarm is detected to occur in the period, the single-circle data is not updated in the period, and the value of the previous period is kept. If CRC alarm continues to occur, single turn data will continue to be held. When the CRC alarm of the encoder is recovered, the single-circle data is updated.
Furthermore, the position feedback adopts an incremental mode, namely the position feedback is equal to the accumulation of single-circle value increment delta of each period of the encoder;
Figure BDA0003700355000000092
Δ N ＝X N -X N-1 ，X N is the single-turn value, X, of the periodic encoder N-1 For the single-turn value of the last period encoder, N starts from the first period;
when the CRC alarm of the encoder is detected, the position feedback is still accumulated without special treatment. Since the single-turn value will remain during the CRC alarm, it can be concluded that the value of the position feedback accumulation is 0, i.e. will remain unchanged. When CRC alarm is recovered, certain conditions are met, and position feedback can be recovered to a correct value. The following conditions need to be satisfied:
within the CRC alarm duration, the motor rotation displacement is less than 1.5 circles, otherwise the motor rotation direction cannot be distinguished, and a feedback position error is caused when the alarm is recovered. Converting the 1.5-turn rotary displacement of the motor into CRC (the number of current loop cycles) continuous alarm times B max So as to judge whether the condition is satisfied or not in the code;
Figure BDA0003700355000000101
t is the current loop period, the unit is microsecond, and speed is the highest rotating speed of the motor. When the alarm times exceed B max And then, generating alarm prompt information.
The encoder CRC alarm is detected to occur in the period, and the speed feedback is not updated in the period;
when the recovery of the CRC alarm for 2 cycles and above is continuously detected, the speed feedback is updated at the 2 nd cycle.
The current command is the output of a speed loop in the FOC;
the encoder CRC alarm is detected in the period, and the current instruction is not updated in the period;
when it is continuously detected that the CRC alarm is recovered for 2 cycles and more, the current command is updated at the 2 nd cycle and after the speed feedback update.
Through the above treatment, the effects achieved are:
during CRC alarm, namely encoder data abnormity, a torque current command is kept stable to a great extent, and phenomena such as robot runaway and the like caused by current mutation are avoided. When the encoder data is restored, the torque current transitions from hold to update, achieving a smooth transition of the entire normal-fault-normal process.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims (4)

1. The method for processing the absolute encoder data Cyclic Redundancy Check (CRC) alarm in the industrial robot control comprises the processing of encoder data single-circle values, the processing of position feedback, the processing of speed feedback and the processing of torque current instructions, and is characterized in that: the period detects that the CRC alarm of the encoder occurs, single-circle data is not updated in the period, and the value of the previous period is kept; if CRC alarm continuously occurs, single circle of data is continuously kept; and when the CRC alarm of the encoder is recovered, updating the single-circle data.
2. An industrial robot control absolute encoder data Cyclic Redundancy Check (CRC) alarm handling method according to claim 1, characterized in that: the position feedback adopts an increment mode, namely the position feedback is equal to the accumulation of single-turn value increment delta of each period of the encoder;
Figure RE-FDA0003751092300000011
Δ N ＝X N -X N-1 ，X N is the single-turn value, X, of the periodic encoder N-1 For the single-turn value of the last cycle encoder, N starts from the first cycle;
when the CRC alarm of the encoder is detected, the position feedback is still accumulated without special treatment, and because the single-circle value is kept during the CRC alarm, the accumulated value of the position feedback can be obtained to be 0, namely the position feedback is kept unchanged; when the CRC alarm is recovered, a certain condition is satisfied, the position feedback can be recovered to a correct value, and the following conditions need to be satisfied:
within the CRC alarm duration, the motor rotation displacement is less than 0.5 circle, otherwise, the motor rotation direction cannot be distinguished, and a feedback position error is caused when the alarm is recovered; converting the rotation displacement of 0.5 circle of the motor into CRC (the number of current loop cycles) continuous alarm times B max So as to realize the judgment of whether the condition is satisfied or not in the code;
Figure RE-FDA0003751092300000012
t is the current loop period, the unit is microsecond, and speed is the highest rotating speed of the motor; when the number of alarm times exceeds B max And then, generating alarm prompt information.
3. An industrial robot control absolute encoder data Cyclic Redundancy Check (CRC) alarm handling method according to claim 1, characterized in that: the encoder CRC alarm is detected to occur in the period, and the speed feedback is not updated in the period;
when the recovery of the CRC alarm for 2 cycles and above is continuously detected, the speed feedback is updated at the 2 nd cycle.
4. An industrial robot control absolute encoder data Cyclic Redundancy Check (CRC) alarm handling method according to claim 1, characterized in that: the current command is the output of a speed loop in the FOC;
the encoder CRC alarm is detected in the period, and the current instruction is not updated in the period;
when it is continuously detected that the CRC alarm is recovered for 2 cycles and more, the current command is updated at the 2 nd cycle and after the speed feedback update.
CN202210691974.3A 2022-06-17 2022-06-17 Method for processing Cyclic Redundancy Check (CRC) alarm of absolute encoder data in industrial robot control Active CN114928300B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210691974.3A CN114928300B (en) 2022-06-17 2022-06-17 Method for processing Cyclic Redundancy Check (CRC) alarm of absolute encoder data in industrial robot control

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210691974.3A CN114928300B (en) 2022-06-17 2022-06-17 Method for processing Cyclic Redundancy Check (CRC) alarm of absolute encoder data in industrial robot control

Publications (2)

Publication Number Publication Date
CN114928300A true CN114928300A (en) 2022-08-19
CN114928300B CN114928300B (en) 2023-05-09

Family

ID=82814991

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210691974.3A Active CN114928300B (en) 2022-06-17 2022-06-17 Method for processing Cyclic Redundancy Check (CRC) alarm of absolute encoder data in industrial robot control

Country Status (1)

Country Link
CN (1) CN114928300B (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116448157A (en) * 2022-12-30 2023-07-18 成都卡诺普机器人技术股份有限公司 Encoder position abnormality judging method

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5625353A (en) * 1992-12-29 1997-04-29 Kabushiki Kaisha Sankyo Seiki Seisakusho Device for transmitting signals from position detector and method of such signal transmission
CN108663080A (en) * 2018-05-21 2018-10-16 广东伊莱斯电机有限公司 Absolute value encoder method for diagnosing faults in a kind of servo drive system
WO2018196683A1 (en) * 2017-04-25 2018-11-01 华为技术有限公司 Encoding method and device, decoding method and device, and apparatuses
CN112776004A (en) * 2020-12-22 2021-05-11 深圳市越疆科技有限公司 Motor encoder detection method and device for mechanical arm, mechanical arm and memory
CN114257153A (en) * 2021-11-25 2022-03-29 深圳市研控自动化科技有限公司 Servo motor positioning method and servo positioning device

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5625353A (en) * 1992-12-29 1997-04-29 Kabushiki Kaisha Sankyo Seiki Seisakusho Device for transmitting signals from position detector and method of such signal transmission
WO2018196683A1 (en) * 2017-04-25 2018-11-01 华为技术有限公司 Encoding method and device, decoding method and device, and apparatuses
CN108663080A (en) * 2018-05-21 2018-10-16 广东伊莱斯电机有限公司 Absolute value encoder method for diagnosing faults in a kind of servo drive system
CN112776004A (en) * 2020-12-22 2021-05-11 深圳市越疆科技有限公司 Motor encoder detection method and device for mechanical arm, mechanical arm and memory
CN114257153A (en) * 2021-11-25 2022-03-29 深圳市研控自动化科技有限公司 Servo motor positioning method and servo positioning device

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
马向华等: "新型高精度磁机电绝对式编码器设计", 《上海应用技术学院学报(自然科学版)》 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116448157A (en) * 2022-12-30 2023-07-18 成都卡诺普机器人技术股份有限公司 Encoder position abnormality judging method
CN116448157B (en) * 2022-12-30 2024-02-09 成都卡诺普机器人技术股份有限公司 Encoder position abnormality judging method

Also Published As

Publication number Publication date
CN114928300B (en) 2023-05-09

Similar Documents

Publication Publication Date Title
CN107655510B (en) Multi-turn absolute value encoder and position detection method
CN114928300A (en) Absolute encoder data Cyclic Redundancy Check (CRC) alarm processing method in industrial robot control
US6914543B2 (en) Method for initializing position with an encoder
CN109000689A (en) A kind of data processing method of absolute photoelectric shaft encoder, system
CN112033451A (en) Measuring device and method of encoder and encoder
US20200292362A1 (en) Method and device for correcting angle sensor
CN112383309A (en) Analog-to-digital conversion circuit of magnetoelectric revolution speed sensor
CN114001768B (en) Self-calibration device of magnetoelectric encoder
JPH05122204A (en) Optoelectronic-interface for decoding wave dividing multiplexing manchester-gray coding binary signal
CN216859785U (en) Joint with encoder detection function
JP3171485B2 (en) Creating a high-resolution absolute signal
CN111486879A (en) Magnetic encoder, hollow rotation incremental position detection system and method
CN115950469A (en) Method and device for correcting power failure of single-turn absolute value encoder
CN110553621B (en) High-precision turret angle measurement system and method free of power failure influence
CN101586968B (en) High-resolution absolute type code device and operation method thereof
JP3241138B2 (en) Absolute encoder output signal abnormality detection method
JP3448664B2 (en) Multi-turn absolute encoder
KR100518638B1 (en) processing method of Multi-turn type Encoder
CN219551549U (en) Optical encoder and servo system
JP3118816B2 (en) Multi-rotation detection rotary encoder
JPH0719849A (en) Apparatus and method for reading position
JPH01184415A (en) Power source monitor circuit and rotary encoder incorporated with said circuit
CN116639531B (en) Rotary table rotation control method and system based on encoder
CN213902401U (en) Absolute value encoder
CN111238542B (en) Position ring cross antipode continuous coding method based on multi-antipode encoder

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant