CN115683172A - Multi-turn counting method of encoder, encoder and operation control device - Google Patents

Abstract

The invention discloses a multi-turn counting method of an encoder, the encoder, an operation control device and a computer readable storage medium, wherein the encoder comprises a circuit board, a code disc and a magnet, the code disc and the magnet are installed on a motor rotating shaft, a first Hall element and a second Hall element are arranged on the circuit board, a single-turn counting zero point is arranged on the code disc, the multi-turn counting method of the encoder determines the multi-turn counting zero point from jump position points by acquiring the jump position point corresponding to the jump of the output level of the first Hall element in the rotation process of the code disc, and performs multi-turn counting on the rotation of the code disc according to the multi-turn counting zero point, the output level change of the first Hall element and the output level change of the second Hall element, so that the complexity of logic judgment in multi-turn counting is reduced, and the accuracy and the reliability of the multi-turn counting are improved.

Description

Multi-turn counting method of encoder, encoder and operation control device

Technical Field

The present invention relates to the field of multi-turn encoder technology, and in particular, to a multi-turn counting method for an encoder, an operation control device, and a computer-readable storage medium.

Background

At present, the encoder of many rings of counts is often through installing a plurality of hall element on the encoder, comes the magnetic field intensity of the magnet of induction installation on encoder or motor to judge the many rings of number of turns of encoder according to the current voltage state or the level state of hall element output, this kind of scheme realizes simply, and is reliable and stable, and can not additionally cause the encoder increase in volume, is favorable to realizing the miniaturization of encoder. However, in the installation and operation processes of the encoder, due to the influence of factors such as uncertain relative angle between the magnet and the coded disc during installation, fluctuation of the zero point position of a single turn of the encoder caused by the operation working condition, hysteresis zone arranged on the hall element and the like, the relative positions of the zero point of the single turn of the count and the zero point of the multiple turn of the count of the encoder are changed, and the complexity of logical judgment of the multiple turn of the count of the encoder is greatly increased.

Disclosure of Invention

The present invention is directed to solve at least one of the problems of the prior art, and provides a multi-turn counting method for an encoder, an operation control device, and a computer-readable storage medium, which can reduce the complexity of logic determination when the encoder performs multi-turn counting.

In a first aspect, an embodiment of the present invention provides a multi-turn counting method for an encoder, where the encoder includes a circuit board, and a code wheel and a magnet that are mounted on a rotating shaft of a motor, the circuit board is provided with a first hall element and a second hall element, and the code wheel is provided with a single-turn counting zero point, and the method includes:

acquiring a jumping position point corresponding to the jumping of the output level of the first Hall element in the rotation process of the code disc;

determining a multi-turn counting zero point from the jumping position point according to the relative position of the jumping position point and the single-turn counting zero point;

and counting the rotation of the code wheel for multiple circles according to the counting zero points for multiple circles, the output level change of the first Hall element and the output level change of the second Hall element.

The multi-turn counting method of the encoder provided by the embodiment of the invention at least has the following beneficial effects: according to the relative positions of the jumping position point corresponding to the jumping of the output level of the first Hall element and the single-turn counting zero point on the code disc in the rotation process of the code disc, the proper jumping position point is selected to serve as the multi-turn counting zero point, the possibility that the relative positions of the single-turn counting zero point and the multi-turn counting zero point are changed is reduced, and therefore the complexity of logic judgment of the encoder in multi-turn counting is reduced.

In some embodiments, the jump position points include a first position point corresponding to a rising edge position and a second position point corresponding to a falling edge position of the first hall element output level when the code wheel rotates clockwise, and include a third position point corresponding to a falling edge position and a fourth position point corresponding to a rising edge position of the first hall element output level when the code wheel rotates counterclockwise;

the determining a multi-turn counting zero point from the jump position point according to the relative position of the jump position point and the single-turn counting zero point includes:

obtaining a first hysteresis region of the first Hall element according to the first position point and the third position point, and obtaining a second hysteresis region of the first Hall element according to the second position point and the fourth position point;

when the single-turn counting zero point falls into the first hysteresis zone, taking the second position point and the fourth position point as multi-turn counting zero points; and when the single-turn counting zero point falls into the second hysteresis zone, taking the first position point and the third position point as multi-turn counting zero points.

In some embodiments, when the single-turn count zero does not fall within the first hysteresis zone and the second hysteresis zone, the first position point and the third position point are taken as multi-turn count zeros or the second position point and the fourth position point are taken as multi-turn count zeros.

In some embodiments, the determining a multi-turn count zero from the jump position point according to the relative position of the jump position point and the single-turn count zero further includes:

the single-turn counting zero point is used as a midpoint to offset the deviation of the extreme working condition position left and right to obtain a single-turn zero point area;

when the single-turn zero area and the first hysteresis area have an overlapping area, taking the second position point and the fourth position point as multi-turn counting zero points; and when the single-turn zero area and the second hysteresis area have an overlapping area, taking the first position point and the third position point as multi-turn counting zero points.

In some embodiments, when the single-turn zero region has no overlapping region with both the first hysteresis region and the second hysteresis region, the first position point and the third position point are taken as multi-turn counting zeros or the second position point and the fourth position point are taken as multi-turn counting zeros.

In some embodiments, the counting the rotation of the code wheel for a plurality of turns based on the plurality of turns of the count zero point, the output level variation of the first hall element, and the output level variation of the second hall element includes:

under the condition that the second position point and the fourth position point are used as multi-turn counting zero points, when the coded disc rotates clockwise and passes through the second position point, the number of turns counted by the encoder is increased by one; when the coded disc rotates anticlockwise and passes through the fourth position point, the number of counted turns of the encoder is reduced by one;

under the condition that the first position point and the third position point are used as multi-turn counting zero points, when the coded disc rotates clockwise and passes through the first position point, the number of turns counted by the encoder is increased by one; when the code wheel rotates anticlockwise and passes through the third position point, the number of counted turns of the encoder is reduced by one.

In some embodiments, the encoder is configured to: the Hall sensor is in a dormant state and is awakened when the output level of the first Hall element is detected to change;

the counting of the multiple turns of the rotation of the code wheel according to the multiple-turn counting zero point, the output level change of the first hall element and the output level change of the second hall element further comprises:

dividing an area of one rotation of the encoder into four sectors according to the output levels of the first Hall element and the second Hall element, wherein the first sector corresponds to the first Hall element to output a high level and the second Hall element to output a low level, the second sector corresponds to the first Hall element to output a high level and the second Hall element to output a high level, the third sector corresponds to the first Hall element to output a low level and the second Hall element to output a high level, and the fourth sector corresponds to the first Hall element to output a low level and the second Hall element to output a low level;

and under the condition that the second position point and the fourth position point are used as multi-turn counting zero points, when the encoder is in the third sector after being awakened, the number of encoder counting turns is increased by one.

In some embodiments, with the second location point and the fourth location point as the multi-turn count zero, when the encoder is in the second sector after being woken up, the encoder count turns are decreased by one.

In some embodiments, with the first location point and the third location point as multi-turn count zeros, an encoder count turn is incremented by one when the encoder is in the first sector after being awakened.

In some embodiments, with the first position point and the third position point as the multi-turn count zero point, when the encoder is in the fourth sector after being awakened, the number of encoder counts is reduced by one

In a second aspect, an embodiment of the present invention provides an encoder, including a circuit board, and a code wheel and a magnet that are mounted on a rotating shaft of a motor, where the circuit board is provided with a first hall element and a second hall element, and the code wheel is provided with a single-turn counting zero point, and the encoder employs the multi-turn counting method according to any one of the embodiments of the first aspect.

In some embodiments, an included angle formed by sequentially connecting the center point of the first hall element, the first origin point, and the center point of the second hall element is greater than a sum of the first hysteresis angle and the second hysteresis angle, where: the first hysteresis angle is an included angle corresponding to a hysteresis region of the first Hall element, the second hysteresis angle is an included angle corresponding to a hysteresis region of the second Hall element, and the first origin is a projection point of the motor rotating shaft on the circuit board.

In a third aspect, an embodiment of the present invention provides an operation control apparatus, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the program to implement the multi-turn counting method according to any one of the embodiments of the first aspect.

In a fourth aspect, embodiments of the present invention provide a computer-readable storage medium storing computer-executable instructions for causing a computer to perform a multi-turn counting method as described in any one of the embodiments of the first aspect.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

Drawings

The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the example serve to explain the principles of the invention and not to limit the invention.

The invention is further described below with reference to the accompanying drawings and examples;

FIG. 1 is a flow chart of a method for counting a plurality of turns of an encoder according to an embodiment of the present invention;

FIG. 2 is a schematic view of an end face of a motor shaft of an encoder according to another embodiment of the present invention;

fig. 3 is a flowchart of a method for determining a zero point of multi-turn counting in the jumping position point in the multi-turn counting method of the encoder according to another embodiment of the present invention;

FIG. 4 is a schematic diagram of a first hysteresis zone and a second hysteresis zone on an encoder codewheel according to another embodiment of the present invention;

FIG. 5 is a diagram illustrating the output voltage versus magnetic field strength characteristics of a Hall element with hysteresis regions according to another embodiment of the present invention;

FIG. 6 is a schematic diagram of the output level of the first Hall element and the encoder position according to another embodiment of the present invention;

FIG. 7 is a schematic diagram illustrating deviation between an actual position and an ideal position of an encoder under different operating conditions according to another embodiment of the present invention;

FIG. 8 is a flowchart of a method for considering extreme operating condition position deviations in a multi-turn counting method of an encoder according to another embodiment of the present invention;

FIG. 9 is a flowchart of a method for counting a plurality of rotations of the code wheel in a multi-rotation counting method of an encoder according to another embodiment of the present invention;

fig. 10 is a flowchart of a method for counting according to sector division in a multi-turn counting method of an encoder according to another embodiment of the present invention;

fig. 11 is a schematic view of mounting positions of a first hall element and a second hall element according to another embodiment of the present invention;

FIG. 12 is a schematic diagram of sectorization according to a single turn Hall level change of a first Hall element and a second Hall element provided by another embodiment of the present invention;

FIG. 13 is a schematic diagram of Hall level and encoder position characteristics for the first Hall element and the second Hall element according to another embodiment of the present invention;

FIG. 14 is a schematic diagram of a low power state switching of an encoder according to another embodiment of the present invention;

fig. 15 is a schematic structural diagram of an operation control device according to another embodiment of the present invention.

Detailed Description

Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.

In the description of the present invention, if there are first and second described only for the purpose of distinguishing technical features, it is not understood that relative importance is indicated or implied or that the number of indicated technical features or the precedence of the indicated technical features is implicitly indicated or implied.

In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.

The embodiment of the invention provides a multi-turn counting method of an encoder, the encoder, an operation control device and a computer readable storage medium, wherein the multi-turn counting method of the encoder is applied to the encoder, the encoder comprises a circuit board, a code disc and a magnet, the code disc and the magnet are installed on a motor rotating shaft, a first Hall element and a second Hall element are arranged on the circuit board, a single-turn counting zero point is arranged on the code disc, the multi-turn counting method of the encoder determines the multi-turn counting zero point from jump position points by acquiring jump position points corresponding to jump output levels of the first Hall element when the output levels of the first Hall element jump in the rotation process of the code disc, and performs multi-turn counting on the rotation of the code disc according to the multi-turn counting zero point, the output level change of the first Hall element and the output level change of the second Hall element, so as to reduce the complexity of logic judgment in the multi-turn counting, and improve the accuracy and the reliability of the multi-turn counting.

The embodiments of the present invention will be further explained with reference to the drawings.

Referring to fig. 1, fig. 1 is a flowchart of a method for counting multiple turns of an encoder according to an embodiment of the present invention, and a first aspect embodiment of the present invention provides a method for counting multiple turns of an encoder, where the encoder includes a circuit board, and a code wheel and a magnet mounted on a rotating shaft of a motor, the circuit board is provided with a first hall element and a second hall element, and the code wheel is provided with a single-turn counting zero point, and the method includes, but is not limited to, the following steps S110, S120, and S130.

Step S110: acquiring a jumping position point corresponding to the jumping of the output level of the first Hall element in the rotation process of the code disc;

step S120: determining a multi-turn counting zero point from the jumping position point according to the relative position of the jumping position point and the single-turn counting zero point;

step S130: and counting the rotation of the code disc for multiple circles according to the counting zero points of the multiple circles, the output level change of the first Hall element and the output level change of the second Hall element.

In some embodiments, referring to fig. 2, fig. 2 is a schematic diagram of an end face of a motor rotating shaft of an encoder according to an embodiment of the present invention, where, when a multi-turn encoder is performed by using a hall element in the present application, the encoder is configured to provide position feedback for a servo system when controlling a motor, the encoder includes a PCB circuit board, and a code wheel and a magnet mounted on the motor rotating shaft, the PCB circuit board is fixed on a housing of the encoder, the PCB circuit board is provided with the hall element, and the code wheel and the magnet are mounted together for use.

In some embodiments, a code wheel is a digital encoder for measuring angular displacement, which is a most common displacement sensor for measuring the rotational angle position of a shaft, a zero point of the code wheel is a position point marked in advance on the rotational shaft of a motor, and is an initial encoding position of the encoder, in the present application, the zero point of the code wheel is only a zero point position of a single ring of the encoder, and a relative angle between a magnet and the code wheel does not affect the zero point position of the single ring, and the zero point positions of multiple rings of the encoder are determined by a rising edge position and a falling edge position of an output level of a first hall element when the code wheel rotates clockwise, and a falling edge position and a rising edge position of the output level of the first hall element when the code wheel rotates counterclockwise, so that the problem of complexity of judgment of the multiple-ring counting due to the fact that the mounting angle of the magnet and the mounting angle of the code wheel are difficult to guarantee during mounting, and the relative angle between the two angles may be in any angle, resulting in that the zero point position of the multiple-ring counting and the single ring are not fixed is increased, and the complexity of the judgment of the multiple-ring counting is more simple and effective.

Referring to fig. 3, fig. 3 is a flowchart of a method for determining a zero point of multi-turn counting in a jumping position point in a multi-turn counting method of an encoder according to another embodiment of the present invention, where the jumping position point includes a first position point corresponding to a rising edge position and a second position point corresponding to a falling edge position of an output level of a first hall element when a code wheel rotates clockwise, and includes a third position point corresponding to a falling edge position and a fourth position point corresponding to a rising edge position of an output level of the first hall element when the code wheel rotates counterclockwise; and determining a multi-turn counting zero point from the jump position point according to the relative positions of the jump position point and the single-turn counting zero point, wherein the method comprises but is not limited to the following steps S310 and S320.

Step S310: obtaining a first hysteresis zone of the first Hall element according to the first position point and the third position point, and obtaining a second hysteresis zone of the first Hall element according to the second position point and the fourth position point;

step S320: when the single-turn counting zero point falls into the first hysteresis zone, taking the second position point and the fourth position point as multi-turn counting zero points; and when the single-turn counting zero point falls into the second hysteresis zone, taking the first position point and the third position point as multi-turn counting zero points.

In some embodiments, referring to fig. 4, fig. 4 is a schematic diagram of a first hysteresis zone and a second hysteresis zone on a code wheel of an encoder, where a first position point and a third position point correspond to a first hysteresis zone of a first hall element, a second position point and a fourth position point correspond to a second hysteresis zone of the first hall element, a single-turn count zero point falls into the first hysteresis zone, and the second position point and the fourth position point should be used as multi-turn count zero points, and an opposite single-turn count zero point falls into the second hysteresis zone, and the first position point and the third position point should be used as multi-turn count zero points; as shown in fig. 4 (2), the single-turn count zero does not fall into the first hysteresis region and the second hysteresis region, and the first position point and the third position point may be used as the multi-turn count zero or the second position point and the fourth position point may be used as the multi-turn count zero.

In some embodiments, corresponding to fig. 4 (1), when the single-turn count zero falls into the first hysteresis zone, the second position point and the fourth position point are taken as the multi-turn count zero; when the single-turn counting zero point falls into the second hysteresis zone, the first position point and the third position point are used as the multi-turn counting zero point, and the multi-turn counting zero point can be effectively avoided.

In some embodiments, corresponding to fig. 4 (2), when the single-turn counting zero does not fall into the first hysteresis region and the second hysteresis region, and the first position point and the third position point are used as the multi-turn counting zero or the second position point and the fourth position point are used as the multi-turn counting zero, it is conceivable that, in the case that the single-turn counting point of the encoder does not fall into the hysteresis region, the single-turn counting zero and the multi-turn counting zero of the encoder do not exist too close to each other by using the first position point and the third position point as the multi-turn counting zero or using the second position point and the fourth position point as the multi-turn counting zero, and the complexity of the multi-turn counting judgment is increased, so that the simplification and the accuracy of the multi-turn counting during the operation of the multi-turn encoder are realized, and the complex logic judgment is avoided.

In some embodiments, referring to fig. 5, fig. 5 is a schematic diagram illustrating characteristics of an output voltage and a magnetic field strength of a hall element provided with a hysteresis region according to an embodiment of the present invention, where a BOP point is an operating point of the hall element, and the hall element outputs from a high level to a low level at the operating point as a magnetic flux density increases. The BRP point is a release point of the hall element, at which the hall element is output from a low level to a high level as the magnetic flux density decreases due to the influence of hysteresis. Wherein the area between the BRP and BOP points is referred to as the hysteresis zone of the hall element.

In some embodiments, specifically, the hall element in this application is a unipolar hall IC, when the S pole of the magnet faces the hall element mark surface and the magnetic induction B applied to the hall element exceeds the operating point BOP (i.e. B > BOP > 0), the output is turned on, the output is changed from high to low, and the hall element outputs low level. When the magnetic induction intensity is weakened to be lower than the release point BRP (i.e., 0-B-straw BRP) or removed (B = 0), the output is turned off, the output is changed from low to high, and the hall element outputs a high level, i.e., if the external magnetic field is greater than the BOP during power-up, the output initial state will be on, and conversely, if the external magnetic field is less than the BOP during power-up, the output initial state will be off.

In some embodiments, referring to fig. 6, fig. 6 is a characteristic diagram of an output level of a first hall element and an encoder position according to an embodiment of the present invention, in some embodiments, when a first hall element mounted on a PCB rotates clockwise or counterclockwise for one revolution, a level on the first hall element changes from high to low or from low to high periodically, and there is only one rising edge and one falling edge in the level on the first hall element in one cycle (rotating 360 degrees clockwise or rotating 360 degrees counterclockwise), and by using this characteristic, the present application may determine a multi-turn count zero point of an encoder according to position points corresponding to the rising edge and the falling edge, thereby improving the measurement accuracy, the resolution capability, and the operational reliability of the encoder.

In some embodiments, referring to fig. 4 and 6, as shown in a characteristic relationship between a position value when the hall 1 rotates clockwise or counterclockwise and an output level of the hall 1, a single-turn position value of an encoder corresponding to edge jump of the hall 1 is identified by rotating the encoder clockwise or counterclockwise, and a rising edge position and a falling edge position of an output level of a first hall element when the code wheel rotates clockwise are obtained and are respectively marked as a first position point and a second position point; and acquiring a falling edge position and a rising edge position of the output level of the first Hall element when the code wheel rotates anticlockwise, and respectively recording the falling edge position and the rising edge position as a third position point and a fourth position point, wherein the first position point and the third position point correspond to a first hysteresis zone of the first Hall element, and the second position point and the fourth position point correspond to a second hysteresis zone of the first Hall element.

In some embodiments, the abscissa position values (angles) in fig. 6 are all coded disc positive rotation angles, so that a positive rotation encoder is embodied in the voltage change process of the upper broken line from left to right in fig. 6, and then a negative rotation encoder is embodied in the voltage change process of the lower broken line from right to left in fig. 6, and the specific process is as follows, firstly, the encoder is rotated in the positive direction, and then the level change output by the hall 1 is obtained; recording the single-circle position of an encoder when the Hall 1 element changes along the rising edge, wherein the position of the encoder corresponding to the edge c marked in FIG. 6 is the position point, the point is marked as POS1, the edge c corresponds to the rising edge position of the output level of the first Hall element when the coded disc rotates clockwise in the application, and the position point POS1 corresponds to the first position point in the application; recording the single-circle position of the encoder when the Hall 1 element is subjected to falling edge change, wherein the position of the encoder corresponding to an edge e marked in figure 6 is the position point, the point is marked as POS2, the edge e corresponds to the falling edge position of the output level of the first Hall element when the coded disc rotates clockwise in the application, and the position point POS2 corresponds to the second position point in the application; then, the encoder is rotated in the opposite direction, the level change output by the Hall 1 is obtained at the moment, the single-circle position of the encoder when the Hall 1 element is changed along the falling edge is recorded, the position of the encoder corresponding to the edge b marked in figure 6 is the position point, the position point is marked as POS3, the edge b corresponds to the rising edge position of the output level of the first Hall element when the coded disc rotates anticlockwise in the application, and the position point POS3 corresponds to the third position point in the application; recording the single-circle position of the encoder when the Hall 1 element changes along the rising edge, taking the position of the encoder corresponding to the edge d marked in FIG. 6 as the position point, marking the position point as POS4, wherein the edge d corresponds to the rising edge position of the output level of the first Hall element when the coded disc rotates anticlockwise in the application, and the position point POS4 corresponds to the fourth position point in the application.

In some examples, the first position point, the second position point, the third position point, and the fourth position point in this application are position points objectively existing on the code wheel, and the position values (angles) on the abscissa corresponding to each of the corresponding position points POS1, POS2, POS3, and POS4 in fig. 6 are numerical representations of the first position point, the second position point, the third position point, and the fourth position point, and the zero-crossing point a is a single-turn overflow point of the encoder, that is, a position point marked with 0 or 360 degrees on the abscissa in fig. 6, at which the encoder makes one turn, and the hysteresis zone H corresponds to the hysteresis zone of the first hall element.

In some embodiments, the first hysteresis region of the first hall element is obtained according to the first position point and the third position point, the second hysteresis region of the first hall element is obtained according to the second position point and the fourth position point, that is, the first hysteresis region of the first hall element is obtained according to the edge c and the edge b, and the second hysteresis region of the first hall element is obtained according to the edge e and the edge d.

Referring to fig. 7, fig. 7 is a schematic diagram of deviation between an actual position and an ideal position of an encoder under different working conditions according to another embodiment of the present invention, and during actual use of the encoder, the actual position of the encoder deviates from the ideal position at a zero-crossing point of a single turn. And H is the possible position deviation of the actual position of the encoder relative to the ideal position during the zero-crossing of a single circle, and Hmax is the position deviation of the actual position relative to the ideal position during the zero-crossing of a single circle of the encoder under the limit condition. Specifically, the specific meaning of H is as follows, assuming that the encoder is in a better environment and working condition, such as an ideal working condition curve shown in fig. 7, the ideal position and the actual position of the encoder are in a linear relationship, and the values of the corresponding horizontal and vertical coordinates are equal. However, when the encoder is actually used, the working condition is complex, and a working condition 1 characteristic curve and a working condition 2 characteristic curve shown in fig. 7 may occur due to the influence of deflection, high temperature and the like of a motor shaft. When the ideal position of the encoder is at 360 degrees, namely the zero crossing point, assuming that the actual position under the ideal characteristic is y, the actual position under the characteristic of the working condition 1 is x, and the actual position under the characteristic of the working condition z is z, under the working condition 1, the position deviation of the encoder relative to the basic working condition at the zero crossing point is H = (x-y), and under the working condition 2, the position deviation of the encoder relative to the basic working condition at the zero crossing point is H = (y-z).

Referring to fig. 8, fig. 8 is a flowchart of a method for counting multiple turns of an encoder according to another embodiment of the present invention, in which a multiple-turn counting zero is determined from a jump position point according to a relative position of the jump position point and a single-turn counting zero, and further includes, but is not limited to, the following steps S810 and S820.

Step S810: the single-turn zero point is used as a midpoint to offset the deviation of the extreme working condition position left and right to obtain a single-turn zero point area;

step S820: when the single-turn zero area and the first hysteresis area have an overlapping area, taking the second position point and the fourth position point as multi-turn counting zero points; and when the single-turn zero area and the second hysteresis area have an overlapping area, taking the first position point and the third position point as the multi-turn counting zero.

In some embodiments, the single-turn counting zero point is used as the midpoint to offset the deviation of the extreme working condition position left and right to obtain a single-turn zero point region, when the deviation of the ideal encoder encoding position and the actual encoder encoding position extreme working condition position is considered, the ideal encoder encoding position corresponding to the single-turn counting zero point is used as the midpoint to obtain the actual encoder encoding position region corresponding to the single-turn counting zero point and possibly causing the influence, and further the extreme working condition position deviation is embodied in the multi-turn counting method; when the single-turn zero area and the second hysteresis area have an overlapping area, it is indicated that under the condition of the shift limit working condition position deviation, the single-turn counting zero point is possibly located in the second hysteresis area corresponding to the actual encoder coding position, so the first position point and the third position point are taken as the multi-turn counting zero point, and the single-turn counting zero point of the code disc is prevented from being crossed with the first hysteresis area or the second hysteresis area of the first hall element when the multi-turn counting zero point of the encoder is determined, so that the single-turn counting point of the encoder and the multi-turn counting point of the encoder are prevented from falling in the same hysteresis area as much as possible, the probability of the relative position change of the single-turn counting zero point and the multi-turn counting zero point of the encoder is reduced, and the complexity of logic judgment during multi-turn counting is reduced.

In some embodiments, specifically, it is determined whether the zero-crossing point a is between POS3-Hmax and POS1+ Hmax (meanwhile, since the actual scale on the code disc is only 0 degree to 360 degrees, the angle at the position corresponding to POS1 is greater than the angle at the position corresponding to POS3, and the angle at the position corresponding to POS3 is greater than 360 degrees), that is, POS3-Hmax > POS1+ Hmax is satisfied, and POS1+ Hmax > =0 degree, and POS3-Hmax <360 degrees; and if the number is between POS3-Hmax and POS1+ Hmax, using the edge d and the edge e corresponding to POS4 and POS2 as the multi-turn counting point. Otherwise, the edge b and the edge c corresponding to the POS3 and the POS1 are used as the multi-turn counting points, so that the influence of various factors such as deflection of a motor shaft, high temperature and the like when the encoder is in actual operation can be effectively avoided, and the encoder generates larger single-turn position deviation and multi-turn position deviation generated by the single-turn position deviation.

In some embodiments, when the single-turn zero area, the first hysteresis area and the second hysteresis area are both free of overlapping areas, the first position point and the third position point are used as multi-turn counting zero points or the second position point and the fourth position point are used as multi-turn counting zero points, when considering the deviation between the coding position of the ideal encoder and the limit working condition position of the practical encoder, and the practical encoder coding position area corresponding to the single-turn counting zero point and possibly affected is obtained by taking the coding position of the ideal encoder corresponding to the single-turn counting zero point as a middle point, under the condition that the single-turn zero area, the first hysteresis area and the second hysteresis area are both free of overlapping areas, the first position point and the third position point are used as the multi-turn counting zero points or the second position point and the fourth position point are used as the multi-turn counting zero points, so that the single-turn zero point and the multi-turn counting zero points are not too close to each other, and the complexity of multi-turn counting judgment is increased, thereby realizing the multi-turn counting accuracy and avoiding the complex logic judgment.

Referring to fig. 9, fig. 9 is a flowchart of a method for counting a plurality of turns of a code wheel in a method for counting a plurality of turns of an encoder according to another embodiment of the present invention, wherein the method for counting a plurality of turns of a code wheel includes, but is not limited to, the following steps S910 and S920 according to a zero point of the plurality of turns counting, a change in an output level of a first hall element, and a change in an output level of a second hall element.

Step S910: under the condition that the second position point and the fourth position point are used as multi-turn counting zero points, when the coded disc rotates clockwise and passes through the second position point, the number of the counting turns of the encoder is increased by one; when the coded disc rotates anticlockwise and passes through a fourth position point, the number of counted turns of the encoder is reduced by one;

step S920: under the condition that the first position point and the third position point are taken as multi-turn counting zero points, when the coded disc rotates clockwise and passes through the first position point, the number of counting turns of the encoder is increased by one; when the code wheel rotates counterclockwise and passes a third position point, the number of counted turns of the encoder is reduced by one.

In some embodiments, with the second position point and the fourth position point as the multi-turn count zero, the encoder counts one more turns as the code wheel rotates clockwise and passes the second position point; when the code wheel rotates anticlockwise and passes through a fourth position point, the number of counted turns of the encoder is reduced by one, specifically, when it is determined that a single-turn counting zero point of the code wheel of the encoder is in a first hysteresis zone of a first position point (corresponding to an edge c) and a third position point (corresponding to an edge b), in order to make the single-turn counting point of the encoder and a multi-turn counting point of the encoder not fall in the same hysteresis zone as much as possible, under the condition that a second position point (corresponding to an edge e) and a fourth position point (corresponding to an edge d) are taken as the multi-turn counting zero point, when the first Hall element rotates clockwise along with the code wheel, a voltage change edge of the first Hall element is a voltage drop edge e, so that when the code wheel rotates clockwise and passes through the second position point, the encoder adds one to the number of counted turns due to the clockwise rotation of the code wheel; correspondingly, when the first Hall element rotates anticlockwise along with the coded disc, the voltage change edge of the first Hall element is a voltage rising edge d, so that when the coded disc rotates clockwise and passes through a fourth position point, the number of counted turns of the encoder is reduced by one due to the fact that the coded disc rotates anticlockwise, and therefore the measuring accuracy, the resolution capability and the working reliability of the encoder are improved.

In some embodiments, with the first and third position points as the multi-turn count zero, the encoder counts one more turns as the code wheel rotates clockwise and passes the first position point; when the code wheel rotates anticlockwise and passes through a third position point, the number of counted turns of the encoder is reduced by one, specifically, when a single-turn counting zero point of the code wheel of the encoder is determined to be in a second hysteresis area of a second position point (corresponding to an edge e) and a fourth position point (corresponding to an edge d), in order to prevent the single-turn counting point of the encoder and the multi-turn counting points of the encoder from falling in the same hysteresis area as much as possible, under the condition that the first position point (corresponding to an edge c) and the third position point (corresponding to an edge b) are used as the multi-turn counting zero point, when the first Hall element rotates clockwise along with the code wheel, the voltage change edge of the first Hall element is a voltage rising edge c, so when the code wheel rotates clockwise and passes through the first position point, the number of counted turns of the encoder increases by one because the code wheel rotates clockwise; correspondingly, when the first Hall element rotates anticlockwise along with the coded disc, the voltage change edge of the first Hall element is a voltage drop edge b, so that when the coded disc rotates clockwise and passes through a third position point, the number of counted turns of the encoder is reduced by one due to the fact that the coded disc rotates anticlockwise, and therefore the measuring accuracy, the resolution capability and the working reliability of the encoder are improved.

Referring to fig. 10, fig. 10 is a flowchart of a method for counting according to sector division in a multi-turn counting method of an encoder according to another embodiment of the present invention, in some embodiments, a second hall element is further disposed on the circuit board; the encoder is configured to: the Hall sensor is in a dormant state and is awakened when the output level of the first Hall element is detected to change; according to the multi-turn counting zero point, the output level change of the first Hall element and the output level change of the second Hall element, the rotation of the code disc is counted for multiple turns, including but not limited to the following steps S1010 and S1020:

step S1010: dividing the area of one circle of rotation of the encoder into four sectors according to the output levels of a first Hall element and a second Hall element, wherein the first sector corresponds to the output high level of the first Hall element and the output low level of the second Hall element, the second sector corresponds to the output high level of the first Hall element and the output high level of the second Hall element, the third sector corresponds to the output low level of the first Hall element and the output high level of the second Hall element, and the fourth sector corresponds to the output low level of the first Hall element and the output low level of the second Hall element;

step S1020: and under the condition that the second position point and the fourth position point are used as multi-turn counting zero points, when the encoder is in a third sector after being awakened, the number of the counting turns of the encoder is increased by one.

In some embodiments, referring to fig. 11, fig. 11 is a schematic diagram of sector division according to single-turn hall level changes of a first hall element and a second hall element provided in an embodiment of the present invention, wherein, since there is a problem in the prior art that when an encoder encoding position just passes through a multi-turn counting zero point, the encoder is in a sleep state, so that the encoder cannot perform multi-turn counting according to the multi-turn counting zero point, in this application, the encoder is configured to: the encoder is in a dormant state and is awakened when the output level of the first Hall element is detected to change, and then when the output level of the first Hall element changes, the sector where the current encoding position is located is determined according to the Hall levels of the first Hall element and the second Hall element, and then multi-turn counting of the encoder is achieved according to the sector where the current encoding position is located.

In some embodiments, referring to fig. 12, fig. 12 is a schematic diagram illustrating hall levels of a first hall element and a second hall element and characteristics of an encoder position, where an area of one rotation of an encoder is divided into four sectors according to output levels of the first hall element and the second hall element, where the first sector corresponds to a high level output by the first hall element and a low level output by the second hall element, the second sector corresponds to a high level output by the first hall element and a high level output by the second hall element, the third sector corresponds to a low level output by the first hall element and a high level output by the second hall element, and the fourth sector corresponds to a low level output by the first hall element and a low level output by the second hall element, so that high and low level states of the first hall element and the second hall element are in a mapping relationship with a sector where a current encoding position of the encoder is located, and multi-turn counting of the encoder is implemented according to the located sector.

In some embodiments, in the case of using the second location point (corresponding to edge e) and the fourth location point (corresponding to edge d) as the multi-turn zero point, when the encoder is in the third sector after being woken up, the number of encoder counts is increased by one, when the encoder is in the second sector after being woken up, the number of encoder counts is decreased by one, it is conceivable that the second sector outputs a high level corresponding to the first hall element and a high level corresponding to the second hall element, the third sector outputs a low level corresponding to the first hall element and a high level corresponding to the second hall element, and when it is determined that edge d and edge e are used as the multi-turn zero point, the encoder is woken up when edge d and edge e are triggered in the sleep state. When the encoder works normally, when the encoder reverses the trigger edge d, the current sector 3 is switched to the sector 2, and the number of the encoder turns is decreased by one. When the encoder positively rotates to trigger the edge e, namely judging that the sector 2 is currently switched to the sector 3, the encoder counts more than one turn. When the Hall edge of the encoder is awakened, namely the Hall edge is switched from the encoder power-off dormant state to the encoder power-off dormant state without entering the dormant state, and the information of the current sector is read. If the encoder is currently in sector 2, the encoder counts down by one more turn. If the encoder is currently in sector 3, the encoder multi-turn count is incremented by one.

In some embodiments, in the case where the first position point (corresponding to the edge c) and the third position point (corresponding to the edge b) are taken as the multi-turn counting zero point, when the encoder is in the first sector after being woken up, the number of encoder counting turns is increased by one, and when the encoder is in the fourth sector after being woken up, the number of encoder counting turns is decreased by one. When the encoder works normally, when the encoder reverses the trigger edge b, the current sector 1 is switched to the sector 4, and the number of the encoder turns is decreased by one. When the encoder positively rotates to trigger the edge c, namely judging that the sector 4 is switched to the sector 1 currently, the encoder counts more than one turn. When the Hall edge of the encoder is awakened, namely the encoder is switched from the power-off dormant state to the encoder which is not in the dormant state, and the current sector information is read. If the encoder is currently in sector 4, the encoder multi-turn count is decremented by one. If the encoder is currently in sector 1, the encoder multi-turn count is incremented by one.

In some embodiments, referring to fig. 13, fig. 13 is a schematic diagram of encoder low power consumption state switching provided in an embodiment of the present invention, where, to maintain a low power consumption state, the encoder may switch between a normal operating state of the encoder, and a state where the encoder is not in a sleep state when the encoder is in the normal operating state, if a main power source is powered down but does not enter an intermediate state of the sleep state, at this time, if the main power source is powered up, the encoder may be recovered to the normal operating state, if the encoder does not have other operations and guarantees the power down state, after a certain time, the encoder may enter the power down sleep state, after the power down sleep, if a hall level edge (hall level changes) detected by the encoder may be waken up, the encoder returns to the intermediate state where the power is powered down but does not enter the sleep state to perform encoder counting, and after the power down sleep, the encoder may be recovered to the normal operating state, where the normal operating state may perform encoder counting normally, so that while ensuring low power consumption, the encoder may improve the measurement accuracy, the resolution capability, and the operating reliability of the encoder.

The embodiment of the second aspect of the present application provides an encoder, and in some embodiments, the embodiment of the second aspect of the present application provides an encoder, which includes a circuit board, and a code wheel and a magnet that are mounted on a rotating shaft of a motor, where the circuit board is provided with a first hall element and a second hall element, and the code wheel is provided with a single-turn counting zero point, and the encoder adopts a multi-turn counting method of the encoder of any one of the above embodiments.

In some embodiments, an included angle formed by sequentially connecting the center point of the first hall element, the first origin point, and the center point of the second hall element is greater than the sum of the first hysteresis angle and the second hysteresis angle, where: the first hysteresis angle is an included angle corresponding to a hysteresis region of the first Hall element, the second hysteresis angle is an included angle corresponding to a hysteresis region of the second Hall element, and the first origin is a projection point of the motor rotating shaft on the circuit board.

Referring to fig. 14, fig. 14 is a schematic diagram illustrating mounting positions of a first hall element and a second hall element, in some embodiments, the first hall element and the second hall element are mounted on a PCB board together, as shown in fig. 11, and an included angle θ formed by the mounting positions of the two hall elements (corresponding to a central point of the first hall element and a central point of the second hall element) and a central point o of the PCB (corresponding to a first origin) is greater than a sum of rotation angles of code discs corresponding to widths of hysteresis areas of the two hall elements. Assuming that the rotation angle of the code wheel corresponding to the hysteresis zone of the first hall element is m, and the rotation angle of the code wheel corresponding to the hysteresis zone of the second hall element is n, the angle of theta needs to be larger than m + n to ensure that the hysteresis zones of the first hall element and the second hall element do not overlap, so that the high and low level states of the first hall element and the second hall element and the sector where the current coding position of the encoder is located are in a unique corresponding mapping relation, thereby simplifying multi-turn counting during the working of the multi-turn encoder, improving the accuracy of the multi-turn counting, and reducing the complexity of logic judgment during the multi-turn counting.

Referring to fig. 15, fig. 15 is a schematic structural diagram of an operation control apparatus according to another embodiment of the present invention, and an embodiment of a third aspect of the present invention provides an operation control apparatus, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the program to implement the multi-turn counting method of the encoder according to any one of the above-described first aspect, for example, to execute the above-described method steps S110 to S130 in fig. 1, S310 to S320 in fig. 3, S810 to S820 in fig. 8, S910 to S920 in fig. 9, and S1010 to S1020 in fig. 10.

In some embodiments, the operation control apparatus 1500 according to the embodiment of the present invention includes one or more processors 1501 and a memory 1502, and fig. 10 illustrates one processor 1501 and one memory 1502 as an example.

In some embodiments, the processor 1501 and the memory 1502 may be connected by a bus or other means, such as the bus connection illustrated in fig. 15.

In some embodiments, the memory 1502, as a non-transitory computer-readable storage medium, may be used to store non-transitory software programs as well as non-transitory computer-executable programs. Further, the memory 1502 may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory 1502 may optionally include memory 1502 located remotely from the processor 1501, and such remote memory may be coupled to the operation control device 1500 via a network, examples of which include, but are not limited to, the internet, an intranet, a local area network, a mobile communications network, and combinations thereof.

In some embodiments, the processor executes the computer program to perform any of the above embodiments at predetermined intervals, and those skilled in the art will appreciate that the apparatus configuration shown in fig. 15 does not constitute a limitation of the operation control apparatus 1500, and may include more or less components than those shown, or combine certain components, or arrange different components.

In the operation control apparatus 1500 shown in fig. 15, the processor 1501 may be configured to call a control program of the encoder stored in the memory 1502, so as to implement the multi-turn counting method of the encoder, and based on the hardware structure of the operation control apparatus 1500, various embodiments of the encoder of the present invention are proposed, and at the same time, non-transitory software programs and instructions required for implementing the multi-turn counting method of the encoder of the above embodiments are stored in the memory, and when being executed by the processor, the multi-turn counting method of the encoder of the above embodiments is executed.

A fourth aspect embodiment of the present invention provides a computer-readable storage medium storing computer-executable instructions for causing a computer to perform the multi-turn counting method of the encoder according to any one of the embodiments of the first aspect, for example, performing the method steps S110 to S130 in fig. 1, S310 to S320 in fig. 3, S810 to S820 in fig. 8, S910 to S920 in fig. 9, and S1010 to S1020 in fig. 10 described above.

The above-described embodiments of the apparatus are merely illustrative, and the units illustrated as separate components may or may not be physically separate, may be located in one place, or may be distributed over a plurality of network nodes. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.

One of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media or non-transitory media and communication media or transitory media. The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks, DVD, or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.

Claims (14)

1. A multi-turn counting method of an encoder is characterized in that the encoder comprises a circuit board, a code disc and a magnet, wherein the code disc and the magnet are installed on a motor rotating shaft, a first Hall element and a second Hall element are arranged on the circuit board, a single-turn counting zero point is arranged on the code disc, and the method comprises the following steps:

acquiring a jumping position point corresponding to the jumping of the output level of the first Hall element in the rotation process of the code disc;

determining a multi-turn counting zero point from the jumping position point according to the relative position of the jumping position point and the single-turn counting zero point;

and counting the rotation of the code wheel for multiple circles according to the counting zero points for multiple circles, the output level change of the first Hall element and the output level change of the second Hall element.

2. The multi-turn counting method according to claim 1, wherein the jump position points include a first position point corresponding to a rising edge position and a second position point corresponding to a falling edge position of the first hall element output level when the code wheel is rotated clockwise, and include a third position point corresponding to a falling edge position and a fourth position point corresponding to a rising edge position of the first hall element output level when the code wheel is rotated counterclockwise;

the determining a multi-turn counting zero point from the jump position point according to the relative position of the jump position point and the single-turn counting zero point includes:

obtaining a first hysteresis region of the first Hall element according to the first position point and the third position point, and obtaining a second hysteresis region of the first Hall element according to the second position point and the fourth position point;

when the single-turn counting zero point falls into the first hysteresis zone, taking the second position point and the fourth position point as multi-turn counting zero points; and when the single-turn counting zero point falls into the second hysteresis zone, taking the first position point and the third position point as multi-turn counting zero points.

3. The multi-turn counting method according to claim 2, wherein when the single-turn counting zero does not fall within the first hysteresis zone and the second hysteresis zone, the first position point and the third position point are taken as multi-turn counting zeros or the second position point and the fourth position point are taken as multi-turn counting zeros.

4. The multi-turn counting method according to claim 2, wherein the determining a multi-turn counting zero from the jump location point according to the relative positions of the jump location point and the single-turn counting zero further comprises:

the single-turn counting zero point is used as a midpoint to offset the deviation of the extreme working condition position left and right to obtain a single-turn zero point area;

when the single-turn zero area and the first hysteresis area have an overlapping area, taking the second position point and the fourth position point as multi-turn counting zero points; and when the single-turn zero area and the second hysteresis area have an overlapping area, taking the first position point and the third position point as multi-turn counting zero points.

5. The method according to claim 4, wherein when the single-turn zero region has no overlapping region with the first hysteresis zone and the second hysteresis zone, the first position point and the third position point are used as multi-turn counting zeros or the second position point and the fourth position point are used as multi-turn counting zeros.

6. The multi-turn counting method according to claim 2, wherein the multi-turn counting of the rotation of the code wheel according to the multi-turn counting zero point, the output level variation of the first hall element, and the output level variation of the second hall element includes:

under the condition that the second position point and the fourth position point are used as multi-turn counting zero points, when the coded disc rotates clockwise and passes through the second position point, the number of turns counted by the encoder is increased by one; when the coded disc rotates anticlockwise and passes through the fourth position point, the number of counted turns of the encoder is reduced by one;

under the condition that the first position point and the third position point are used as multi-turn counting zero points, when the coded disc rotates clockwise and passes through the first position point, the number of turns counted by the encoder is increased by one; when the code wheel rotates anticlockwise and passes through the third position point, the number of counted turns of the encoder is reduced by one.

7. The multi-turn counting method of claim 6, wherein the encoder is configured to: the Hall sensor is in a dormant state and is awakened when the output level of the first Hall element is detected to change;

the counting of the multiple turns of the rotation of the code wheel according to the multiple-turn counting zero point, the output level change of the first hall element and the output level change of the second hall element further comprises:

dividing the area of one circle of rotation of the encoder into four sectors according to the output levels of the first Hall element and the second Hall element, wherein the first sector corresponds to the first Hall element to output a high level and the second Hall element to output a low level, the second sector corresponds to the first Hall element to output a high level and the second Hall element to output a high level, the third sector corresponds to the first Hall element to output a low level and the second Hall element to output a high level, and the fourth sector corresponds to the first Hall element to output a low level and the second Hall element to output a low level;

and under the condition that the second position point and the fourth position point are used as multi-turn counting zero points, when the encoder is in the third sector after being awakened, the number of encoder counting turns is increased by one.

8. The multi-turn counting method according to claim 7, wherein in the case where the second position point and the fourth position point are taken as multi-turn counting zeros, when the encoder is in the second sector after being woken up, the number of encoder counting turns is decreased by one.

9. The multi-turn counting method according to claim 7, wherein in the case of taking the first position point and the third position point as a multi-turn counting zero point, when the encoder is in the first sector after being woken up, the encoder counts the number of turns by one.

10. The multi-turn counting method according to claim 7, wherein in the case where the first position point and the third position point are taken as multi-turn counting zeros, when the encoder is in the fourth sector after being woken up, the number of encoder counting turns is reduced by one.

11. An encoder, characterized in that, it includes circuit board and code disc and magnet installed on the motor shaft, there are the first hall element and the second hall element on the said circuit board, there are single-turn counting zero points on the said code disc, the said encoder adopts the multi-turn counting method of the encoder of any claim 1 to 10.

12. The encoder according to claim 11, wherein an included angle formed by sequentially connecting the center point of the first hall element, the first origin point, and the center point of the second hall element is larger than a sum of the first hysteresis angle and the second hysteresis angle, wherein: the first hysteresis angle is an included angle corresponding to a hysteresis region of the first Hall element, the second hysteresis angle is an included angle corresponding to a hysteresis region of the second Hall element, and the first origin is a projection point of the motor rotating shaft on the circuit board.

13. An operation control apparatus comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the multi-turn counting method according to any one of claims 1 to 10.

14. A computer-readable storage medium having stored thereon computer-executable instructions for causing a computer to perform the multi-turn counting method of any one of claims 1 to 10.

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