CN114967533A - Encoder for inhibiting temperature signals, processing method and device - Google Patents

Encoder for inhibiting temperature signals, processing method and device Download PDF

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Publication number
CN114967533A
CN114967533A CN202210461609.3A CN202210461609A CN114967533A CN 114967533 A CN114967533 A CN 114967533A CN 202210461609 A CN202210461609 A CN 202210461609A CN 114967533 A CN114967533 A CN 114967533A
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signal
temperature
sensor
cosine
sine
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胡绍广
赵士健
危超
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ZHEJIANG HECHUAN TECHNOLOGY CO LTD
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ZHEJIANG HECHUAN TECHNOLOGY CO LTD
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Priority to CN202210461609.3A priority Critical patent/CN114967533A/en
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0423—Input/output
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
    • G01K7/00—Measuring temperature based on the use of electric or magnetic elements directly sensitive to heat ; Power supply therefor, e.g. using thermoelectric elements
    • G01K7/42—Circuits effecting compensation of thermal inertia; Circuits for predicting the stationary value of a temperature
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/24—Pc safety
    • G05B2219/24215—Scada supervisory control and data acquisition

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  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)

Abstract

The invention discloses an encoder for restraining temperature signals, a processing method and a device, which are suitable for the field of encoder data feedback. The amplifying circuit is connected with the sensor; the MCU is respectively connected with the amplifying circuit, the sensor and the temperature detection circuit; the MCU is used for detecting a temperature signal of the temperature detection circuit, receiving a current sine and cosine signal of the sensor when the temperature signal changes, determining an angle signal corresponding to the current sine and cosine signal according to the relation between the current sine and cosine signal and the temperature signal, adjusting the voltage value of the amplifying circuit according to the angle signal to adjust the sensor, and outputting the angle signal to the servo controller to feed back data. The actual angle signal corresponding to the current sine and cosine signal is determined according to the temperature signal and the sine and cosine signal detected by the temperature detection circuit, the inaccuracy of feedback data caused by the deviation of the sine and cosine signal under the influence of temperature is avoided, the accuracy of the feedback data of the encoder is improved, the speed fluctuation of the motor is reduced, and the motor jitter is avoided.

Description

Encoder for inhibiting temperature signals, processing method and device
Technical Field
The present invention relates to the field of encoder data feedback, and in particular, to an encoder, a processing method, and an apparatus for suppressing a temperature signal.
Background
In the servo system, the simplest configuration requires three: driver, motor, encoder. The driver is used for controlling the brain, a power line of the driver is connected with the motor, and the motor does corresponding movement through the principle of electromagnetic induction. And the rear end of the motor is provided with an encoder, the encoder detects the real-time position of the motor in real time and feeds the position back to the driver through a feedback line, and the driver adjusts the control of the motor according to the feedback. Therefore, the encoder in the whole servo system plays a feedback role, the position of the motor is fed back to the driving controller in real time, and the driving controller adjusts the control of the motor according to the feedback.
If the feedback of the encoder is inaccurate, the driving controller can correspondingly control the motor according to inaccurate information, the processing method of the encoder is based on sine and cosine signals, when the sine and cosine signals are influenced by temperature to generate deviation, the deviation between the angle data after the sine and cosine settlement and the real angle can be generated, the accuracy of the motor is inaccurate due to the deviation, even the speed fluctuation is large, and even the motor is damaged by shaking.
Therefore, how to improve the accuracy of the encoder feedback data needs to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide an encoder, a processing method and a device for restraining temperature signals, which can improve the accuracy of feedback data of the encoder.
In order to solve the above technical problem, the present invention provides an encoder for suppressing temperature signals, which includes an MCU, an amplifying circuit, a temperature detecting circuit, and a sensor for detecting the encoder;
the amplifying circuit is connected with the sensor; the MCU is respectively connected with the amplifying circuit, the sensor and the temperature detection circuit;
the MCU is used for detecting a temperature signal of the temperature detection circuit, receiving a current sine and cosine signal of the sensor when the temperature signal changes, determining an angle signal corresponding to the current sine and cosine signal according to the relation between the current sine and cosine signal and the temperature signal, adjusting the voltage value of the amplifying circuit according to the angle signal to adjust the sensor, and outputting the angle signal to the servo controller to feed back data.
Preferably, the temperature detection circuit includes a first resistor and a second resistor;
the first end of the first resistor is connected with a power supply; the second end of the first resistor is connected with the first end of the second resistor and is connected with the MCU, the second end of the second resistor is grounded, and the second resistor is a temperature-sensitive resistor.
In order to solve the technical problem, the invention also provides a processing method for suppressing the temperature signal, which is applied to an encoder which comprises an MCU, an amplifying circuit, a temperature detection circuit and a sensor for detecting the encoder, wherein the amplifying circuit is connected with the sensor; MCU is connected with amplifier circuit, sensor and temperature detection circuit respectively, includes:
when the temperature signal of the temperature detection circuit is detected to change, receiving the current sine and cosine signal of the sensor;
determining an angle signal corresponding to the current sine and cosine signal according to the relationship between the current sine and cosine signal and the temperature signal;
adjusting the voltage value of the amplifying circuit according to the angle signal to adjust the sensor;
the angle signal is output to a servo controller to feed back data.
Preferably, the temperature detection circuit includes a first resistor and a second resistor, and the first resistor is connected in series with the second resistor, and detects the temperature signal of the temperature detection circuit, including:
acquiring a power supply voltage value, a first resistance value of a first resistor and a second resistance value of a second resistor;
determining a current voltage value corresponding to the second resistance value according to the relationship among the power supply voltage value, the first resistance value and the second resistance value;
and converting the current voltage value into a temperature signal.
Preferably, the method further comprises the following steps:
acquiring an inertia coefficient, a preset adjusting value corresponding to a current adjusting point and an adjusting value corresponding to a previous adjusting point;
obtaining a current adjusting value corresponding to the current adjusting value from the inertia coefficient, the preset adjusting value and the adjusting value according to an inertia filtering algorithm;
and adjusting the voltage value of the amplifying circuit according to the current adjusting value and the angle signal so as to adjust the sensor.
Preferably, the method further comprises the following steps:
when the sine and cosine signals are larger than the upper limit value of the signal preset range, the voltage value of the amplifying circuit is reduced;
and when the sine and cosine signals are smaller than the lower limit value of the preset signal range, increasing the voltage value of the amplifying circuit.
In order to solve the above technical problem, the present invention further provides a processing device for suppressing temperature signals, which is applied to an encoder for suppressing temperature signals, the encoder comprising an MCU, an amplifying circuit, a temperature detecting circuit, and a sensor for detecting the encoder, wherein the amplifying circuit is connected to the sensor; MCU is connected with amplifier circuit, sensor and temperature detection circuit respectively, includes:
the receiving module is used for receiving the current sine and cosine signals of the sensor when the temperature signals of the temperature detection circuit are detected to change;
the determining module is used for determining an angle signal corresponding to the current sine and cosine signal according to the relationship between the current sine and cosine signal and the temperature signal;
the adjusting module is used for adjusting the voltage value of the amplifying circuit according to the angle signal so as to adjust the sensor;
and the output module is used for outputting the angle signal to the servo controller so as to feed back data.
The invention provides an encoder for inhibiting temperature signals, which comprises an MCU, an amplifying circuit, a temperature detection circuit and a sensor for detecting the encoder, wherein the MCU is used for detecting the temperature signals; the amplifying circuit is connected with the sensor; the MCU is respectively connected with the amplifying circuit, the sensor and the temperature detection circuit; the MCU is used for detecting a temperature signal of the temperature detection circuit, receiving a current sine and cosine signal of the sensor when the temperature signal changes, determining an angle signal corresponding to the current sine and cosine signal according to the relation between the current sine and cosine signal and the temperature signal, adjusting the voltage value of the amplifying circuit according to the angle signal to adjust the sensor, and outputting the angle signal to the servo controller to feed back data. The device determines the actual angle signal corresponding to the current sine and cosine signal according to the temperature signal and the sine and cosine signal detected by the temperature detection circuit, avoids inaccurate feedback data caused by the sine and cosine signal deviation caused by temperature influence, improves the accuracy of encoder feedback data, reduces the speed fluctuation of the motor, and avoids motor shake.
In addition, the invention also provides a processing method for restraining the temperature signal and a processing device for restraining the temperature signal, which have the same beneficial effects as the encoder for restraining the temperature signal.
Drawings
In order to more clearly illustrate the embodiments of the present invention, the drawings required for the embodiments will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained by those skilled in the art without inventive effort.
Fig. 1 is a structural diagram of an encoder for suppressing a temperature signal according to an embodiment of the present invention;
FIG. 2 is a block diagram of an alternative encoder for suppressing temperature signals in accordance with an embodiment of the present invention;
FIG. 3 is a flowchart of a processing method for suppressing a temperature signal according to an embodiment of the present invention;
fig. 4 is a schematic diagram illustrating a jitter phenomenon occurring during an operation process of a motor according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of normal fluctuation of a sensor signal according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of an excessive sensor signal according to an embodiment of the present invention;
FIG. 7 is a schematic diagram illustrating a sensor signal that is too small according to an embodiment of the present invention;
fig. 8 is a structural diagram of a processing device for suppressing a temperature signal according to an embodiment 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 obtained by a person of ordinary skill in the art based on the embodiments of the present invention without any creative work belong to the protection scope of the present invention.
The core of the invention is to provide an encoder, a processing method and a device for restraining temperature signals, which improve the accuracy of feedback data of the encoder.
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
It should be noted that the encoder for suppressing temperature signals provided by the present invention is suitable for an encoder for processing signals based on sine and cosine signals, and aims to solve the problem that sine and cosine signals are affected due to different temperatures of application environments. Such as an arctangent algorithm process for sine and cosine signals having a phase difference of 90 deg., a mechanical angle of 0 deg. to 360 deg. can be obtained within one rotation period of the motor. When the sine and cosine signals are influenced by temperature to have deviation, the deviation between the angle data for sine and cosine calculation and the real angle data is fatal to an encoder, and the deviation is mainly solved.
Fig. 1 is a structural diagram of an encoder for suppressing a temperature signal according to an embodiment of the present invention, and as shown in fig. 1, the apparatus includes an MCU1, an amplifying circuit 2, a temperature detecting circuit 3, and a sensor 4 for detecting the encoder;
the amplifying circuit 2 is connected with the sensor 4; the MCU1 is respectively connected with the amplifying circuit 2, the sensor 4 and the temperature detection circuit 3;
the MCU1 is configured to detect a temperature signal of the temperature detection circuit 3, receive a current sine and cosine signal of the sensor 4 when the temperature signal changes, determine an angle signal corresponding to the current sine and cosine signal according to a relationship between the current sine and cosine signal and the temperature signal, adjust a voltage value of the amplification circuit 2 according to the angle signal to adjust the sensor 4, and output the angle signal to the servo controller to feed back data.
It can be understood that a Micro Controller Unit (MCU) is connected to the sensor 4, and obtains sine and cosine signals through the sensor 4, and calculates angle data through an internal algorithm, so as to realize data interaction with the servo controller through the communication circuit.
The existing deviation problem caused by temperature influence is solved by adopting a shielding isolation technology for the sensor 4 on the whole circuit board, for example, the sensor 4 generating sine and cosine signals is isolated independently to prevent heat conduction, only the heating temperature around the sensor 4 is solved, and the influence reduction effect on the whole space temperature is very little. The other is to add a process inside the sensor 4 to adjust the signal, and since the sensor 4 belongs to a chip-level process, the process added inside increases the development cost. In order to avoid the above-mentioned problems of variation and cost, the present invention provides an external device with a temperature detection circuit 3.
The MCU1 is connected to the temperature detection circuit 3, and is configured to detect a temperature signal, and when the temperature signal changes, receive a current sine and cosine signal generated by the sensor 4 connected to the MCU1, and receive the current sine and cosine signal through the ADC1 pin and the ADC2 pin. The amplifying circuit 2 is connected with a DAC pin of the MCU1, the amplifying circuit 2 is the front end of a power supply of the sensor 4 and controls the power supply of the sensor 4, and the amplifying circuit 2 is controlled by the DAC pin of the MCU 1. In particular, the ADC pins of the MCU1 have achieved relatively high accuracy, are less expensive, and as a preferred embodiment, employ the ADC16bit resolved MCU 1. The sensor 4 is used for detecting sine and cosine signals generated by magnetic encoding, the magnetic encoding is a single-turn absolute value encoder, and can be a photoelectric encoder or a magnetic induction encoder, and the invention is not particularly limited.
The MCU1 collects the temperature signal of the temperature detection circuit 3 through the ADC0 pin. It will be appreciated that the MCU1 collects the temperature signals in real time and receives the current sine and cosine signals for adjustment when a change in the temperature signals is detected. When the temperature signal is detected to be unchanged, the current sine and cosine signal is conducted to the driving controller through the communication circuit according to the acquired current sine and cosine signal. The current environment temperature condition can be known by converting the acquired temperature signal into the temperature inside the temperature acquisition device.
And determining a corresponding angle signal according to the temperature signal and the current sine and cosine signal, and adjusting the amplifying circuit 2 according to the angle signal so as to control the power supply of the sensor 4. The amplitude of the sine and cosine signal output by the sensor 4 is influenced by the amplitude of the power supply except the influence of temperature and installation induction distance, and the influence is generally positive correlation data, such as 5v of power supply, and the amplitude of the sine and cosine signal output by the sensor 4 is 4 v; the power supply is 3.3v, and the amplitude of the sine and cosine signal output by the sensor 4 is 2.64 v. Although the amplitude of the sine and cosine signals of the sensor 4 is also affected by the installation, the encoder is installed before the factory shipment, so the present invention does not consider this aspect. Therefore, by adjusting the power supply voltage value of the sensor 4, the voltage value corresponding to the sine and cosine signal output by the sensor 4 can be adjusted.
The power supply of the sensor 4 is realized by an amplifying circuit 2 with certain driving capability, the amplifying circuit 2 is output by a DAC pin, when the analog quantity output by the DAC pin rises, the output value of the amplifying circuit 2 also rises, otherwise, the output value also falls, and the input and the output can also be controlled reversely.
The encoder for inhibiting the temperature signal provided by the embodiment of the invention comprises an MCU, an amplifying circuit, a temperature detection circuit and a sensor for detecting the encoder; the amplifying circuit is connected with the sensor; the MCU is respectively connected with the amplifying circuit, the sensor and the temperature detection circuit; the MCU is used for detecting a temperature signal of the temperature detection circuit, receiving a current sine and cosine signal of the sensor when the temperature signal changes, determining an angle signal corresponding to the current sine and cosine signal according to the relation between the current sine and cosine signal and the temperature signal, adjusting the voltage value of the amplifying circuit according to the angle signal to adjust the sensor, and outputting the angle signal to the servo controller to feed back data. The device determines the actual angle signal corresponding to the current sine and cosine signal according to the temperature signal and the sine and cosine signal detected by the temperature detection circuit, avoids inaccurate feedback data caused by the sine and cosine signal deviation caused by temperature influence, improves the accuracy of encoder feedback data, reduces the speed fluctuation of the motor, and avoids motor shake.
On the basis of the foregoing embodiment, fig. 2 is a structural diagram of another encoder for suppressing a temperature signal according to an embodiment of the present invention, and as shown in fig. 2, the temperature detection circuit 3 includes a first resistor R1 and a second resistor R2;
the first end of the first resistor R1 is connected with the power supply, the second end of the first resistor R1 is connected with the first end of the second resistor R2 and connected with the MCU, the second end of the second resistor R2 is grounded, and the second resistor R2 is a temperature-sensitive resistor.
Specifically, a first resistor R1 and a second resistor R2 are directly connected in series to a power supply VDD and GND, wherein the second resistor R2 is a temperature-sensitive resistor, the resistance value of the temperature-sensitive resistor is greatly affected by the temperature, the specific resistance value corresponds to the temperature change one by one, according to the specific specification of the temperature-sensitive resistor selected by the user, the specific mark (the corresponding relation between the resistance value and the temperature) is provided, and the first resistor R1 is a resistor, the resistance value of which is insensitive to the temperature change.
The temperature detection circuit provided by the embodiment of the invention comprises the first resistor and the second resistor, wherein the second resistor is a temperature-sensitive resistor, the structure is simple, the resistor is made of cheap resistance materials, and the research and development cost and the time cost are saved.
The above describes in detail an embodiment of an encoder for suppressing a temperature signal provided by the present invention, and the present invention further provides a method for processing a suppressed temperature signal corresponding to the apparatus.
Fig. 3 is a flowchart of a processing method for suppressing a temperature signal according to an embodiment of the present invention, where the method is applied to an encoder including an MCU, an amplifying circuit, a temperature detecting circuit, and a sensor for detecting a temperature signal suppressed by the sensor of the encoder, and the amplifying circuit is connected to the sensor; the MCU is respectively connected to the amplifying circuit, the sensor and the temperature detecting circuit, as shown in fig. 3, the method includes:
s11: when the temperature signal of the temperature detection circuit is detected to change, receiving the current sine and cosine signal of the sensor;
s12: determining an angle signal corresponding to the current sine and cosine signal according to the relationship between the current sine and cosine signal and the temperature signal;
s13: adjusting the voltage value of the amplifying circuit according to the angle signal to adjust the sensor;
s14: the angle signal is output to a servo controller to feed back data.
Specifically, when the temperature signal of the temperature detection circuit is detected to change, the current sine and cosine signal of the sensor is received. The sensor is used for detecting sine and cosine signals of the encoder, and it can be understood that the MCU collects the sine and cosine signals and temperature signals in real time, and the collected sine and cosine signals are not in the range discussed in the invention. When the temperature signal is detected to be changed, the current sine and cosine signal is obtained, and then the angle signal corresponding to the current sine and cosine signal is determined according to the relation between the current sine and cosine signal and the temperature signal.
The angle signal is a deviation signal of sine and cosine signals which are influenced by temperature when the temperature is changed, and then the voltage value of the amplifying circuit is adjusted according to the angle signal so as to adjust the sensor, and the angle signal is output to the servo driver according to the angle signal to complete feedback data.
When the temperature signal changes, the MCU stores a peak value corresponding relation curve of the basic temperature signal and the sine and cosine signal, and the current peak value is known according to the peak value corresponding relation curve, so that the voltage value of the sensor is reduced or increased to achieve the purpose of adjusting the amplitude of the output signal of the sensor.
According to the processing method for inhibiting the temperature signal, provided by the embodiment of the invention, when the temperature signal of the temperature detection circuit is detected to change, the current sine and cosine signal of the sensor is received; determining an angle signal corresponding to the current sine and cosine signal according to the relationship between the current sine and cosine signal and the temperature signal; adjusting the voltage value of the amplifying circuit according to the angle signal to adjust the sensor; the angle signal is output to a servo controller to feed back data. The method determines the actual angle signal corresponding to the current sine and cosine signal according to the temperature signal and the sine and cosine signal detected by the temperature detection circuit, avoids inaccurate feedback data caused by the sine and cosine signal deviation caused by temperature influence, improves the accuracy of the feedback data of the encoder, reduces the speed fluctuation of the motor, and avoids motor shake.
On the basis of the above embodiment, the detecting the temperature signal of the temperature detecting circuit in step S11 includes:
acquiring a power supply voltage value, a first resistance value of a first resistor and a second resistance value of a second resistor;
determining a current voltage value corresponding to the second resistance value according to the relationship among the power supply voltage value, the first resistance value and the second resistance value;
and converting the current voltage value into a temperature signal.
Specifically, the MCU measures the voltage between the first resistor and the second resistor, and the voltage at this point is represented by the following formula:
V＝VDD/(R1+R2)*R2
wherein VDD and R1 are constant values;
therefore, R2 and V have a direct corresponding relationship, and the corresponding current voltage value V is determined according to the obtained power supply voltage value, the first resistance value of the first resistor and the second resistance value of the second resistor, and the current voltage value is converted into a temperature signal.
According to the temperature detection circuit provided by the embodiment of the invention, the first resistor and the second resistor are connected in series to obtain the temperature signal. The method is simple in acquisition mode, and the temperature change of the environment where the method is located can be known in real time.
On the basis of the above embodiment, the voltage value of the amplifying circuit is adjusted according to the angle signal to adjust the sensor, so that the signal is not too small or too large and is always in a proper state. Therefore, the method further comprises the following steps:
acquiring an inertia coefficient, a preset adjusting value corresponding to a current adjusting point and an adjusting value corresponding to a previous adjusting point;
obtaining a current adjusting value corresponding to the current adjusting value from the inertia coefficient, the preset adjusting value and the adjusting value according to an inertia filtering algorithm;
and adjusting the voltage value of the amplifying circuit according to the current adjusting value and the angle signal so as to adjust the sensor.
Specifically, if only the power supply voltage of the sensor is adjusted, although the problem of deviation of sine and cosine signals affected by temperature is solved, if the voltage value difference is large, for example, adjustment from 3v to 2v, if one-step adjustment is performed, a large jitter point or even discontinuity occurs, so that gradual slow adjustment is required, and a step size of 0.1v is adjusted every time, etc. Fig. 4 is a schematic diagram of a jitter phenomenon occurring during a motor operation process according to an embodiment of the present invention, and as shown in fig. 4, a waveform diagram of a motor operation process presented by a sine signal (sin signal) and a cosine signal (cos signal) occurs, when adjustment is performed at 2 pi, a discontinuity phenomenon occurs, which may cause motor vibration and large speed fluctuation, so that a mechanism driven by a motor sends severe jitter.
In order to solve the problems, in the process of running the motor, if the power supply voltage of the sensor signal needing to be adjusted is detected, an inertia filtering method is introduced to obtain an inertia coefficient, a preset adjusting value corresponding to the current adjusting point and an adjusting value corresponding to the previous adjusting point. Immediately, the preset adjustment value may be an adjustment value corresponding to a previous adjustment point, or an adjustment value that is decreased by one unit at a constant speed is used as an adjustment value corresponding to a current adjustment point, and the preset adjustment value may be set according to an actual situation.
And obtaining the actual current adjusting value corresponding to the current adjusting point according to the inertia coefficient, the preset adjusting value corresponding to the current adjusting point and the adjusting value corresponding to the previous adjusting point according to an inertia filtering algorithm. The formula of the inertial filtering algorithm is as follows:
M n ＝K*M n-1 +(1-K)*T n
wherein M is n For the output value of this regulation, M n-1 For the last adjusted output value, T n For the current adjustment value, K is the adjustment coefficient.
It can be seen from the above formula that a plurality of adjustments are always associated with the last adjustment. M obtained by multiple adjustments n Will gradually approach the initial adjustment value T n So as to adjust slowly.
The temperature signal change is an inertia change process, sudden and violent jumping cannot occur, and therefore the sensor power supply cannot shake.
According to the inertial filtering algorithm, the inertia coefficient, the preset adjustment value and the adjustment value are used for obtaining the current adjustment value corresponding to the current adjustment value; and adjusting the voltage value of the amplifying circuit according to the current adjusting value and the angle signal so as to adjust the sensor. The violent vibrations that occur during the conditioning process can be removed to protect the mechanical structure.
On the basis of the foregoing embodiment, fig. 5 is a schematic diagram of fluctuation of a sensor signal in a normal condition according to an embodiment of the present invention, where a sine signal (sin signal) and a cosine signal (cos signal) represent waveforms of a motor operation process, and when the sensor signal is too large or too small, the method further includes:
when the sine and cosine signals are larger than the upper limit value of the signal preset range, the voltage value of the amplifying circuit is reduced;
and when the sine and cosine signals are smaller than the lower limit value of the preset signal range, increasing the voltage value of the amplifying circuit.
Specifically, fig. 6 is a schematic diagram of an excessive sensor signal provided by an embodiment of the present invention, as shown in fig. 6, a waveform diagram of a motor operation process presented by a sine signal (sin signal) and a cosine signal (cos signal), when a sine signal and a cosine signal are greater than an upper limit value of a preset signal range, it indicates that a peak clipping occurs when a current sensor signal is too large, and feedback data of an encoder of the sensor signal may cause motor jitter, so that an amplification factor of an amplification circuit is adjusted, and a power supply voltage is reduced, that is, a voltage value of the amplification circuit is reduced.
Fig. 7 is a schematic diagram of an excessively small sensor signal according to an embodiment of the present invention, as shown in fig. 7, a waveform diagram of a motor running process presented by a sine signal (sin signal) and a cosine signal (cos signal), when the sin signal and the cos signal are smaller than a lower limit value of a preset signal range, it indicates that the accuracy of encoder feedback data is deteriorated and deviates from actual accuracy due to the excessively small sensor signal, and therefore, the amplification factor of the amplification circuit is adjusted, and the power supply voltage is increased, that is, the voltage value of the amplification circuit is increased.
According to the embodiment of the invention, the power supply voltage of the encoder is reduced when the sensor signal is too large, and the power supply voltage of the encoder is increased when the sensor signal is too small. The problem of motor jitter or precision caused by encoder feedback data under the above conditions is avoided, and user experience is improved.
On the basis of the above detailed description of each embodiment corresponding to the processing method for suppressing the temperature signal, the invention also discloses a processing device for suppressing the temperature signal corresponding to the above method, which is applied to an encoder for suppressing the temperature signal of a sensor comprising an MCU, an amplifying circuit, a temperature detection circuit and a sensor for detecting the encoder, wherein the amplifying circuit is connected with the sensor; fig. 8 is a structural diagram of a processing device for suppressing a temperature signal according to an embodiment of the present invention. As shown in fig. 8, the processing device for suppressing a temperature signal includes:
the receiving module 11 is configured to receive a current sine and cosine signal of the sensor when detecting that a temperature signal of the temperature detection circuit changes;
the determining module 12 is configured to determine an angle signal corresponding to the current sine and cosine signal according to a relationship between the current sine and cosine signal and the temperature signal;
the adjusting module 13 is used for adjusting the voltage value of the amplifying circuit according to the angle signal so as to adjust the sensor;
and an output module 14, configured to output the angle signal to the servo controller to feed back data.
Since the embodiment of the apparatus portion corresponds to the above-mentioned embodiment, the embodiment of the apparatus portion is described with reference to the above-mentioned embodiment, and is not described herein again.
According to the processing device for inhibiting the temperature signal, provided by the embodiment of the invention, when the temperature signal of the temperature detection circuit is detected to be changed, the current sine and cosine signal of the sensor is received; determining an angle signal corresponding to the current sine and cosine signal according to the relationship between the current sine and cosine signal and the temperature signal; adjusting the voltage value of the amplifying circuit according to the angle signal to adjust the sensor; the angle signal is output to a servo controller to feed back data. The device determines the actual angle signal corresponding to the current sine and cosine signal according to the temperature signal and the sine and cosine signal detected by the temperature detection circuit, avoids inaccurate feedback data caused by the sine and cosine signal deviation caused by temperature influence, improves the accuracy of encoder feedback data, reduces the speed fluctuation of the motor, and avoids motor shake.
The encoder for suppressing temperature signals, the processing method for suppressing temperature signals and the device provided by the invention are described in detail above. The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

Claims (7)

1. An encoder for suppressing temperature signals is characterized by comprising an MCU, an amplifying circuit, a temperature detection circuit and a sensor for detecting the encoder;
the amplifying circuit is connected with the sensor; the MCU is respectively connected with the amplifying circuit, the sensor and the temperature detection circuit;
the MCU is used for detecting a temperature signal of the temperature detection circuit, receiving a current sine and cosine signal of the sensor when the temperature signal changes, determining an angle signal corresponding to the current sine and cosine signal according to the relation between the current sine and cosine signal and the temperature signal, adjusting the voltage value of the amplifying circuit according to the angle signal to adjust the sensor, and outputting the angle signal to the servo controller to feed back data.
2. The encoder for suppressing a temperature signal according to claim 1, wherein the temperature detection circuit includes a first resistor and a second resistor;
the first end of the first resistor is connected with a power supply; the second end of the first resistor is connected with the first end of the second resistor and the MCU, the second end of the second resistor is grounded, and the second resistor is a temperature-sensitive resistor.
3. The processing method for suppressing the temperature signal is characterized by being applied to an encoder which comprises an MCU, an amplifying circuit, a temperature detection circuit and a sensor for detecting the encoder, wherein the amplifying circuit is connected with the sensor; the MCU respectively with amplifier circuit, sensor and the temperature detect circuit connection includes:
when the temperature signal of the temperature detection circuit is detected to be changed, receiving the current sine and cosine signal of the sensor;
determining an angle signal corresponding to the current sine and cosine signal according to the relationship between the current sine and cosine signal and the temperature signal;
adjusting the voltage value of the amplifying circuit according to the angle signal to adjust the sensor;
and outputting the angle signal to a servo controller to feed back data.
4. The method according to claim 3, wherein the temperature detection circuit comprises a first resistor and a second resistor, and the first resistor is connected in series with the second resistor, and the detecting the temperature signal of the temperature detection circuit comprises:
acquiring a power supply voltage value, a first resistance value of the first resistor and a second resistance value of the second resistor;
determining a current voltage value corresponding to the second resistance value according to the relationship among the power supply voltage value, the first resistance value and the second resistance value;
and converting the current voltage value into the temperature signal.
5. The method of suppressing a temperature signal as set forth in claim 4, further comprising:
acquiring an inertia coefficient, a preset adjusting value corresponding to a current adjusting point and an adjusting value corresponding to a previous adjusting point;
obtaining a current adjusting value corresponding to the current adjusting point from the inertia coefficient, the preset adjusting value and the adjusting value according to an inertia filtering algorithm;
and adjusting the voltage value of the amplifying circuit according to the current adjusting value and the angle signal so as to adjust the sensor.
6. The method of suppressing a temperature signal of claim 3, further comprising:
when the sine and cosine signals are larger than the upper limit value of a signal preset range, reducing the voltage value of the amplifying circuit;
and when the sine and cosine signals are smaller than the lower limit value of the signal preset range, increasing the voltage value of the amplifying circuit.
7. A processing device for suppressing temperature signals is characterized by being applied to an encoder for suppressing temperature signals of a sensor comprising an MCU, an amplifying circuit, a temperature detection circuit and a sensor for detecting the encoder, wherein the amplifying circuit is connected with the sensor; the MCU respectively with amplifier circuit, sensor and the temperature detect circuit connection includes:
the receiving module is used for receiving the current sine and cosine signals of the sensor when the temperature signals of the temperature detection circuit are detected to change;
the determining module is used for determining an angle signal corresponding to the current sine and cosine signal according to the relationship between the current sine and cosine signal and the temperature signal;
the adjusting module is used for adjusting the voltage value of the amplifying circuit according to the angle signal so as to adjust the sensor;
and the output module is used for outputting the angle signal to the servo controller to feed back data.
CN202210461609.3A 2022-04-28 2022-04-28 Encoder for inhibiting temperature signals, processing method and device Pending CN114967533A (en)

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CN202210461609.3A CN114967533A (en) 2022-04-28 2022-04-28 Encoder for inhibiting temperature signals, processing method and device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210461609.3A CN114967533A (en) 2022-04-28 2022-04-28 Encoder for inhibiting temperature signals, processing method and device

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CN114967533A true CN114967533A (en) 2022-08-30

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