CN115876238A - Monitoring auxiliary system for incremental encoder signal receiving and transmitting - Google Patents
Monitoring auxiliary system for incremental encoder signal receiving and transmitting Download PDFInfo
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Abstract
The invention provides a monitoring auxiliary system for receiving and transmitting signals of an incremental encoder, which comprises a server, a motor driving subsystem, the incremental encoder, a signal sampling module, an interaction module, an early warning module and a data processing module, wherein the signal sampling module is used for sampling signals of the incremental encoder and evaluating the signals according to the sampled data, the interaction module is used for interacting with an operator to prompt the direction of incremental steering of the operator, the early warning module is used for giving an early warning prompt to the operator to prompt the current state of the incremental encoder of the operator, and the data processing module is used for acquiring pulse data of the incremental encoder coaxially driven by the motor driving subsystem. According to the invention, through the mutual matching of the signal sampling module and the error processing module, the signal receiving and transmitting state of the incremental encoder can be monitored, so that the signal receiving and transmitting accuracy of the incremental encoder is improved, and the incremental encoder has the capability of automatic signal monitoring.
Description
Technical Field
The invention relates to the technical field of electric or magnetic devices, in particular to a monitoring auxiliary system for receiving and transmitting signals of an incremental encoder.
Background
In a motor control system, the rotating speed of a motor is often required to be measured in real time, an incremental encoder has the advantages of high precision, good anti-interference performance and the like, the speed calculation can be realized by utilizing the orthogonal characteristic of A, B two signal lines, and the incremental encoder is widely applied to a motor speed measuring system at present.
For example, CN102818581B discloses an incremental encoder based on a rotary transformer in the prior art, because the incremental encoder is mostly a photoelectric encoder, it is limited to be applied in severe environments such as high temperature, severe cold, humidity, and high vibration, and the UVW signal is used for magnetic field orientation when the motor is started, only very rough position information can be provided, and after the motor finds the Z pulse, an accurate rotor position can be obtained, which affects the control performance and brings inconvenience to the user.
Another typical prior art, such as CN109489707a, discloses a testing machine and a testing method for an incremental photoelectric encoder, in the prior art, an oscilloscope is used to directly measure the output pulse waveform of the encoder, and the phase shift and the duty ratio of each path of pulse are estimated through coordinate transformation on the oscilloscope, and the calculation process is time-consuming and time-consuming, and the calculation result error is large.
There is also a typical prior art encoder null test method and tester such as CN103292837B, where an incremental encoder provides a number of pulses per revolution of the servomotor shaft. Periodic measurements or pulse counts per unit time can be used to measure the speed of movement.
The invention aims to solve the problems that the detection position can not be accurately positioned, the detection operation of an incremental encoder is complex, the signal of the encoder can not be automatically monitored, the interactivity is poor, the intelligence degree is low and the like in the field.
Disclosure of Invention
The invention aims to provide a monitoring auxiliary system for receiving and transmitting signals of an incremental encoder aiming at the defects at present.
In order to overcome the defects of the prior art, the invention adopts the following technical scheme:
a monitoring auxiliary system for receiving and transmitting signals of an incremental encoder comprises a server, a motor driving subsystem and the incremental encoder, and further comprises a signal sampling module, an interaction module, an early warning module and a data processing module,
the server is respectively connected with the motor driving subsystem, the signal sampling module, the interaction module, the early warning module, the data processing module and the incremental encoder; wherein the motor drive subsystem is coaxially driven with the incremental encoder;
the signal sampling module is used for sampling the signals of the incremental encoder and evaluating the signals according to the sampled data, the interaction module is used for interacting with an operator to prompt the direction of incremental steering of the operator, the early warning module is used for giving an early warning prompt to the operator to prompt the current state of the incremental encoder of the operator, and the data processing module is used for collecting pulse data of the incremental encoder coaxially driven by the motor driving subsystem and carrying out error processing according to the pulse data to obtain an error value of the incremental encoder;
the signal sampling module comprises a signal sampling unit and an evaluation unit, the signal sampling unit is used for sampling the signal of the incremental encoder to form working data of the incremental encoder, and the evaluation unit evaluates the incremental encoder according to the working data;
the signal sampling unit comprises a double-path pulse sampler, a rotation detection component and a data memory, wherein the rotation detection component is used for detecting and sampling the rotation angle of the incremental encoder, the double-path pulse sampler is used for detecting the waveform sent by the incremental encoder, and the data memory is used for storing the rotation angle of the rotation detection component and the waveform of the double-path pulse sampler; wherein the working data of the incremental encoder comprises a double-path square wave signal h of the incremental encoder 1 、h 2 ；
The evaluation unit obtains h 1 The position value at the rising edge moment of the square wave signal is s 1 The position value at the falling edge time is s 2 The position value at the rising edge time of the square wave signals of two adjacent periods is s 5 The position value at the falling edge time is s 6 To in order toAnd obtaining h 2 Road and h 1 The position value of the falling edge time of the wave trough signal with the staggered wave crest signals of the square wave is s 3 And the position value at the time of the rising edge is s 4 And calculating an incremental encoder Evaluation index Evaluation:
Evaluation＝η 1 ·Uniformity+η 2 ·Intersect
in the formula eta 1 、η 2 For the weight coefficient, uniformity is a two-way square wave signal h 1 And h 2 Is a two-way square wave signal h 1 And h 2 Wherein, the values of Uniformity and intercept satisfy:
and if the evaluation index is smaller than a set monitoring threshold, triggering error calculation of the data processing module on the motor driving subsystem.
Optionally, the error processing module obtains that the motor driving subsystem connects the brushless motor and the incremental encoder together through a coupling, and the motor driving subsystem drives the brushless motor to drive the incremental encoder and the angular pulse generator to rotate coaxially, so as to obtain pulse data of the edge time of the incremental encoder, and calculate an overall error Total _ error:
in the formula, e i Error of class i, k i Propagation coefficient for errors of class i, N is the total number of errors of each class, δ ij Correlation coefficient of i-th error and j-th error, e j Error of class j;
if the ith error is not related to the jth error, the ith error and the jth error of the correlation coefficient take the value of delta ij ＝0；
And if the integral error Total _ error is smaller than the error value Monitor of the incremental encoder, the signal output of the incremental encoder accords with the set control precision.
Optionally, the interaction module includes an interaction unit and a prompting unit, the interaction unit is configured to prompt the operator, and the prompting unit is configured to prompt the operator of a current state of the incremental encoder and an adjustment policy;
the interaction unit comprises an interaction prompt screen, a storage seat and a connecting member, the interaction prompt screen is used for prompting the current interaction index to the operator, the connecting member is used for hinging the interaction prompt screen with the outer wall of the storage seat, and the storage seat is used for supporting the interaction prompt screen;
the storage seat is nested in the periphery of the incremental encoder, and a placing cavity for placing the interactive prompt screen is formed in the outer wall of the storage seat.
Optionally, the early warning module obtains an evaluation result of the evaluation unit and performs early warning on a state of the encoder, where the early warning module determines an early warning level of the incremental encoder according to the following formula:
range 1 ≤|Total_error-Monitor|＜range 2 first-level early warning
range 2 ≤|Total_error-Monitor|＜range 3 Second level of warning
In the formula, [ age ] 1 ，range 2 ) For the first-stage early warning interval, [ age 2 ，range 3 ) For the second-stage pre-warning interval, [ age 3 ，range 4 ) And a three-level early warning interval.
Optionally, the rotation detection component includes dwang, inductive probe and at least one position marker spare, and each position marker spare sets up the outer wall of memory seat, and along the equidistant distribution in periphery of memory seat, the one end of dwang with the knob of increment encoder is connected, inductive probe sets up on the tip of dwang other end to stretch out towards the direction of each position marker spare, make inductive probe can discern each position marker spare.
Optionally, the brushless motor is a dc brushless motor.
The beneficial effects obtained by the invention are as follows:
1. through the mutual matching of the signal sampling module and the error processing module, the signal receiving and transmitting state of the incremental encoder can be monitored, so that the signal receiving and transmitting accuracy of the incremental encoder is improved, and the incremental encoder has the capability of automatic signal monitoring;
2. detecting a waveform signal triggered by the incremental encoder through a pulse generator to obtain pulse data of the edge moment of the incremental encoder, so that the incremental encoder is monitored;
3. the interaction unit is matched with the rotation detection member, so that the rotation position of the encoder can be accurately positioned, and the intelligent degree of signal monitoring of the incremental encoder is improved;
4. through the mutual cooperation of the early warning module and the interaction module, an operator can visually observe the state of the incremental encoder, the interaction comfort of the whole system is improved, and the whole system is ensured to have the advantages of high intelligence degree, good interaction comfort, capability of monitoring the incremental encoder and simplicity and convenience in operation;
5. through the mutual matching of the rotation analysis subunit and the rotating member, the adjusting position of the rotary incremental encoder of an operator can be accurately measured, so that the performance test of the incremental encoder is improved, and the signal of the incremental encoder is ensured to be monitored;
6. through mutual cooperation of interaction module and early warning module for the operator can be audio-visual looks over current early warning state, and controls the adjustment direction of increment encoder according to the suggestion, promotes entire system's mutual travelling comfort, has also greatly simplified the operation, makes entire system have more intelligent degree height, the good advantage of reliability.
Drawings
The invention will be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the embodiments. Like reference numerals designate corresponding parts throughout the different views.
FIG. 1 is an overall block diagram of the present invention.
FIG. 2 is a schematic diagram of an evaluation flow of the evaluation unit of the present invention.
FIG. 3 is a block diagram of the data processing module of the present invention for processing error data.
FIG. 4 is a schematic diagram of the incremental encoder and motor drive subsystem of the present invention.
Fig. 5 is an enlarged schematic view of a point a in fig. 4.
The reference numbers illustrate: 1-a storage seat; 2-a motor drive subsystem; 3-a coupling; 4-incremental encoder; 5-a knob; 6-rotating the rod; 7-an inductive probe; 8-position marker; 9-interactive prompt screen.
Detailed Description
The following is a description of embodiments of the present invention with reference to specific embodiments, and those skilled in the art will understand the advantages and effects of the present invention from the disclosure of the present specification. The invention is capable of other and different embodiments and its several details are capable of modification in various other respects, all without departing from the spirit and scope of the present invention. The drawings of the present invention are for illustrative purposes only and are not intended to be drawn to scale. The following embodiments will further explain the related art of the present invention in detail, but the disclosure is not intended to limit the scope of the present invention.
The first embodiment.
According to fig. 1, 2, 3, 4, and 5, the present embodiment provides an incremental encoder signal transceiving monitoring auxiliary system, which includes a server, a motor driving subsystem, and an incremental encoder, and further includes a signal sampling module, an interaction module, an early warning module, and a data processing module,
the server is respectively connected with the motor driving subsystem, the signal sampling module, the interaction module, the early warning module, the data processing module and the incremental encoder, so that data of the signal sampling module, the interaction module, the early warning module and the data processing module can be uploaded to the server; wherein the motor drive subsystem is coaxially driven with the incremental encoder;
the monitoring auxiliary system further comprises a central processing unit which is respectively in control connection with the server, the signal sampling module, the interaction module, the early warning module, the data processing module and the incremental encoder and performs centralized control on the signal sampling module, the interaction module, the early warning module, the data processing module and the incremental encoder based on the central processing unit;
the signal sampling module is used for sampling the signals of the incremental encoder and evaluating the signals according to the sampled data, the interaction module is used for interacting with an operator to prompt the direction of incremental steering of the operator, the early warning module is used for giving an early warning prompt to the operator to prompt the state of the current incremental encoder of the operator, and the data processing module is used for collecting pulse data of the incremental encoder coaxially driven by the motor driving subsystem and carrying out error processing according to the pulse data to obtain an error value of the incremental encoder;
the signal sampling module comprises a signal sampling unit and an evaluation unit, the signal sampling unit is used for sampling the signal of the incremental encoder to form working data of the incremental encoder, and the evaluation unit evaluates the incremental encoder according to the working data;
through the mutual matching of the signal sampling unit and the evaluation unit, the state of the incremental encoder can be detected, so that the signal transceiving state of the incremental encoder can be monitored, and the detection operation of the incremental encoder is improved to be simpler and more reliable;
the signal sampling unit comprises a double-path pulse sampler, a rotation detection component and a data storage, wherein the rotation detection component is used for detecting and sampling the rotation angle of the incremental encoder, the double-path pulse sampler is used for detecting the waveform sent by the incremental encoder, and the data storage is used for storing the rotation angle of the rotation detection component and the waveform of the double-path pulse sampler;
the working data of the incremental encoder comprises a double-path square wave signal h of the incremental encoder 1 、h 2 ；
The evaluation unit obtains h 1 The position value at the rising edge moment of the square wave signal is s 1 The position value at the falling edge time is s 2 The position value at the rising edge time of the square wave signals of two adjacent periods is s 5 The position value at the falling edge time is s 6 And obtaining h 2 Road and h 1 The position value of the falling edge time of the wave trough signal with the staggered wave crest signals of the square wave is s 3 And the position value at the time of the rising edge is s 4 And calculating an incremental encoder Evaluation index Evaluation:
Evaluation＝η 1 ·Uniformity+η 2 ·Intersect
in the formula eta 1 、η 2 As a weight coefficient, satisfy: eta 1 +η 2 1,Unilimit is a two-way square wave signal h 1 And h 2 Is a two-way square wave signal h 1 And h 2 Wherein, the values of Uniformity and intercept satisfy:
if the evaluation index is smaller than a set monitoring threshold, triggering error calculation of the data processing module on a motor driving subsystem;
through the mutual matching of the signal sampling module and the error processing module, the signal transceiving state of the incremental encoder can be monitored, so that the signal transceiving accuracy of the incremental encoder is improved, and the incremental encoder has the capability of automatic signal monitoring;
optionally, the error processing module obtains that the motor driving subsystem connects the brushless motor and the incremental encoder together through a coupling, and the motor driving subsystem drives the brushless motor to drive the incremental encoder and the angular pulse generator to rotate coaxially, so as to obtain pulse data of the edge time of the incremental encoder, and calculate an overall error Total _ error:
in the formula, e i Error of the i-th class, k i Propagation coefficient for errors of class i, N is the total number of errors of each total class, δ ij Correlation coefficient for error of i-th class and error of j-th class, e j Error of class j;
if the ith error is not related to the jth error, the ith error and the jth error of the correlation coefficient take the value of delta ij =0; if the i-th error is related to the j-th error, then delta is taken ij ＝1；
If the overall error Total _ error is smaller than the error value Monitor of the incremental encoder, the signal output of the incremental encoder conforms to the set control precision;
in the present embodiment, the brushless motor is a dc brushless motor; meanwhile, in the process of connecting the DC brushless motor and the incremental encoder, the DC brushless motor and the incremental encoder are connected together through a coupler, so that a closed loop is formed between the driving motor subsystem and the incremental encoder, and the state monitoring of the incremental encoder is promoted;
meanwhile, a waveform signal triggered by the incremental encoder is detected through the pulse generator to obtain pulse data of the edge moment of the incremental encoder, so that the incremental encoder is monitored;
errors in monitoring the incremental encoderThe difference comprises errors of coaxial connection of the brushless DC motor and the incremental encoder, errors of a pulse generator, errors of data acquisition and the like, and the above listed errors are not related to each other, so in the embodiment, the correlation coefficient of the ith error and the jth error is taken as delta ij ＝0；
Optionally, the interaction module includes an interaction unit and a prompting unit, the interaction unit is configured to prompt the operator, and the prompting unit is configured to prompt the operator of a current state of the incremental encoder and an adjustment policy;
the interaction unit comprises an interaction prompt screen, a storage seat and a connecting member, the interaction prompt screen is used for prompting the current interaction index to the operator, the connecting member is used for hinging the interaction prompt screen with the outer wall of the storage seat, and the storage seat is used for supporting the interaction prompt screen;
the storage seat is nested at the periphery of the incremental encoder, and a placing cavity for placing the interactive prompt screen is formed in the outer wall of the storage seat;
the connecting component comprises a group of connectors and a group of connecting seats, the connecting seats are arranged on the wall of one side of the placing cavity, the group of connectors are symmetrically arranged on the interactive prompting screen, and the group of connectors are hinged with the group of placing cavity; in this embodiment, when the interactive prompt screen is viewed, the interactive prompt screen can be broken off and rotated along the axis of the hinge position, so as to meet the requirement of displaying to operators at different angles or different positions;
in addition, the interaction unit is matched with the rotation detection component, so that the rotation position of the encoder can be accurately positioned, and the intelligent degree of signal monitoring of the incremental encoder is improved;
optionally, the rotation detection member includes a rotation rod, an inductive probe, and at least one position marker, each position marker is disposed on an outer wall of the storage seat and distributed at equal intervals along an outer periphery of the storage seat, one end of the rotation rod is connected to the knob of the incremental encoder, and the inductive probe is disposed on an end portion of the other end of the rotation rod and extends out toward the direction of each position marker, so that the inductive probe can identify each position marker; in the process that the induction probe identifies each position marker, the induction probe faces the direction of each position marker, so that the induction probe can be close to each position marker, and the induction probe can identify each position marker;
in addition, an operator operates a button of the incremental encoder and drives the induction probe to slide on the outer wall of the storage seat together with the rotating rod, so that the rotating angle of the rotating button can be accurately detected;
the rotation detection component is used for detecting the rotation angle of the incremental encoder, so that the rotation amount of the knob and the angle fed back by the induction probe can be accurately controlled, and the rotation angle of the knob and the expected control increment speed can be accurately controlled;
in this embodiment, the interaction unit acquires the position data of the sensing probe, so that the position marker of the incremental encoder can be detected, and displays the current real-time angle data on the interaction prompt screen, thereby ensuring that the operator obtains the best interaction experience;
optionally, the early warning module obtains an evaluation result of the evaluation unit and performs early warning on a state of the encoder, where the early warning module determines an early warning level of the incremental encoder according to the following formula:
range 1 ≤|Total_error-Monitor|＜range 2 first-level early warning
range 2 ≤|Total_error-Monitor|＜range 3 Second-level early warning
range 3 ≤|Total_error-Monitor|＜range 4 Three-level early warning
In the formula, [ age ] 1 ，range 2 ) For the first-stage early warning interval, [ age 2 ，range 3 ) For the second-level warning interval, [ age 3 ，range 4 ) A third-level early warning interval is formed;
in this embodiment, the early warning level result of the early warning module may be interactively displayed to the operator through the interaction module, so that the operator can know the current early warning level of the incremental encoder to accurately grasp the current state of the incremental encoder;
through mutually supporting of early warning module and interactive module makes the operator can audio-visual observation the state of incremental encoder promotes entire system's mutual travelling comfort, guarantees that entire system has that intelligent degree is high, mutual travelling comfort is good, can monitor and easy and simple to handle the incremental encoder advantage.
Example two.
This embodiment should be understood to include at least all the features of any one of the embodiments described above, and further improve on the same, as shown in fig. 1, fig. 2, fig. 3, fig. 4, and fig. 5, and further characterized in that the signal sampling unit further includes a rotation analysis subunit, and the rotation analysis subunit acquires identification data of the inductive probe to analyze a rotation angle of the incremental encoder;
the rotation analysis subunit obtains an initial induction position L of the induction probe in a control period 0 And the final sensing position L h And calculating the rotation angle Rad according to the following formula:
wherein r is the radius of the storage seat and is directly measured by the actual condition of the model of the storage seat;
after the rotation angle is detected, the rotation angle is transmitted to an interaction prompt screen of the interaction unit to be displayed so as to be displayed to the operator, so that the operator can visually check the current rotation angle;
the operator can more intuitively check the current state of the incremental encoder through the cooperative fit of the rotation analysis subunit and the interaction unit;
through the mutual matching of the rotation analysis subunit and the rotating member, the adjusting position of the incremental encoder rotated by the operator can be accurately measured, so that the performance test of the incremental encoder is improved, and the signal of the incremental encoder is ensured to be monitored;
in this embodiment, the interaction unit further includes an interaction prompt subunit, where the interaction prompt subunit is configured to prompt the operator of a rotation direction, so as to improve the comfort of the operator in terms of interaction;
the interaction prompting subunit acquires the early warning grade numbers of the rotation analysis subunit and the early warning module, and controls the rotation direction of the incremental encoder according to the following conditions;
1) Counter-rotating a knob of the incremental encoder:
the state of the early warning module is in a first-stage early warning state, (the state of high risk, the knob needs to be reversely turned), and the incremental encoder is controlled to reversely rotate by an angle R _ back according to the following formula:
in the formula of lambda 1 The early warning adjustment coefficient is a first-level early warning adjustment coefficient and is set by a system, wherein the early warning state of the early warning module is observed once when the Rad angle is adjusted by one tenth, and if the early warning level of the early warning module is changed, the reverse adjustment knob is stopped;
2) Forward rotation of the incremental encoder knob:
the state of the early warning module is in a secondary early warning state, (the state of low risk, the knob needs to be steered forwards) and the incremental encoder is controlled to rotate forwards by an angle F _ back according to the following formula:
in the formula, λ 2 Setting a secondary early warning adjustment coefficient by the system, wherein the early warning state of the early warning module is observed once every adjusting one twentieth Rad angle, and if the early warning level of the early warning module is changed, the forward adjusting knob is stopped;
through the interaction module with mutually supporting of early warning module makes the operator can be audio-visual looks over current early warning state, and controls according to the suggestion the adjustment direction of incremental encoder promotes entire system's mutual travelling comfort, has also greatly simplified the operation, makes entire system have more intelligent degree height, the good advantage of reliability.
The disclosure is only a preferred embodiment of the invention, and is not intended to limit the scope of the invention, so that all equivalent technical changes made by using the contents of the specification and the drawings are included in the scope of the invention, and further, the elements thereof can be updated as the technology develops.
Claims (6)
1. A monitoring auxiliary system for receiving and transmitting signals of an incremental encoder comprises a server, a motor driving subsystem and the incremental encoder, and is characterized by further comprising a signal sampling module, an interaction module, an early warning module and a data processing module, wherein the server is respectively connected with the motor driving subsystem, the signal sampling module, the interaction module, the early warning module, the data processing module and the incremental encoder; wherein the motor drive subsystem is coaxially driven with the incremental encoder;
the signal sampling module is used for sampling the signals of the incremental encoder and evaluating the signals according to the sampled data, the interaction module is used for interacting with an operator to prompt the direction of incremental steering of the operator, the early warning module is used for giving an early warning prompt to the operator to prompt the current state of the incremental encoder of the operator, and the data processing module is used for collecting pulse data of the incremental encoder coaxially driven by the motor driving subsystem and carrying out error processing according to the pulse data to obtain an error value of the incremental encoder;
the signal sampling module comprises a signal sampling unit and an evaluation unit, the signal sampling unit is used for sampling the signal of the incremental encoder to form working data of the incremental encoder, and the evaluation unit evaluates the incremental encoder according to the working data;
the signal sampling unit comprises a double-path pulse sampler, a rotation detection component and a data memory, wherein the rotation detection component is used for detecting and sampling the rotation angle of the incremental encoder, the double-path pulse sampler is used for detecting the waveform sent by the incremental encoder, and the data memory is used for storing the rotation angle of the rotation detection component and the waveform of the double-path pulse sampler; wherein the working data of the incremental encoder comprises a double-path square wave signal h of the incremental encoder 1 、h 2 ；
The evaluation unit obtains h 1 The position value at the rising edge moment of the square wave signal is s 1 The position value at the falling edge time is s 2 The position value of the rising edge time of the square wave signals of two adjacent periods is s 5 The position value at the falling edge time is s 6 And obtaining h 2 Road and h 1 The position value of the falling edge moment of the wave trough signal staggered with the wave crest signal of the square wave is s 3 And the position value at the time of the rising edge is s 4 And calculating an incremental encoder Evaluation index Evaluation:
Evaluation＝η 1 ·Uniformity+η 2 ·Intersect
in the formula eta 1 、η 2 As a weight coefficient, unilimit is a two-way square wave signal h 1 And h 2 Is a two-way square wave signal h 1 And h 2 Wherein, the values of Uniformity and intercept satisfy:
and if the Evaluation index Evaluation is smaller than a set monitoring threshold SETValue, triggering the error calculation of the data processing module on the motor driving subsystem.
2. The system as claimed in claim 1, wherein the error processing module obtains the pulse data of the edge time of the incremental encoder, and calculates the Total error Total _ error by connecting the brushless motor and the incremental encoder together through a coupling by the motor driving subsystem, and the motor driving subsystem drives the brushless motor to drive the incremental encoder and the angular pulse generator to rotate coaxially, so as to obtain the pulse data of the edge time of the incremental encoder:
in the formula, e i Error of the i-th class, k i Propagation coefficient for errors of class i, N is the total number of errors of each total class, δ ij Correlation coefficient of i-th error and j-th error, e j Error of class j;
if the ith error is not related to the jth error, the ith error and the jth error of the correlation coefficient take the value of delta ij ＝0；
And if the overall error Total _ error is smaller than the error value Monitor of the incremental encoder, the signal output of the incremental encoder conforms to the set control precision.
3. The system according to claim 2, wherein the interactive module comprises an interactive unit and a prompting unit, the interactive unit is configured to prompt the operator, and the prompting unit is configured to prompt the operator about a current state of the incremental encoder and an adjustment strategy;
the interaction unit comprises an interaction prompt screen, a storage seat and a connecting member, the interaction prompt screen is used for prompting the current interaction index to the operator, the connecting member is used for hinging the interaction prompt screen with the outer wall of the storage seat, and the storage seat is used for supporting the interaction prompt screen;
the storage seat is nested at the periphery of the incremental encoder, and a placing cavity for placing the interactive prompt screen is formed in the outer wall of the storage seat.
4. The system of claim 3, wherein the early warning module obtains the evaluation result of the evaluation unit and gives an early warning to the state of the encoder, and the early warning module determines the early warning level of the incremental encoder according to the following formula:
range 1 ≤|Total_error-Monitor|＜range 2 first-level early warning
range 2 ≤|Total_error-Monitor|＜range 3 Second level of warning
range 3 ≤|Total_error-Monitor|＜range 4 Three-level early warning
In the formula, [ age ] 1 ，range 2 ) For the first-stage early warning interval, [ age 2 ，range 3 ) For the second-stage pre-warning interval, [ age 3 ，range 4 ) And a three-level early warning interval.
5. The system of claim 4, wherein the rotation detection member comprises a rotating rod, an inductive probe and at least one position marker, each position marker is disposed on the outer wall of the storage seat and is distributed at equal intervals along the periphery of the storage seat, one end of the rotating rod is connected with the knob of the incremental encoder, and the inductive probe is disposed on the end portion of the other end of the rotating rod and extends out towards the direction of each position marker, so that the inductive probe can identify each position marker.
6. The system of claim 5, wherein the brushless motor is a DC brushless motor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN103635105A (en) * | 2011-03-25 | 2014-03-12 | 豪尼机械制造股份公司 | Start-up of a machine of the tobacco processing industry |
| CN105424073A (en) * | 2015-12-29 | 2016-03-23 | 中国科学院长春光学精密机械与物理研究所 | Incremental photoelectric encoder precision detection system |
| CN105738642A (en) * | 2016-02-03 | 2016-07-06 | 上海新源工业控制技术有限公司 | T-method motor speed measurement method of four-way parallel sampling |
| CN109489707A (en) * | 2018-11-06 | 2019-03-19 | 倍赫曼工业技术(天津)有限公司 | Incremental photoelectric encoder testing machine and testing method |
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| CN103635105A (en) * | 2011-03-25 | 2014-03-12 | 豪尼机械制造股份公司 | Start-up of a machine of the tobacco processing industry |
| CN105424073A (en) * | 2015-12-29 | 2016-03-23 | 中国科学院长春光学精密机械与物理研究所 | Incremental photoelectric encoder precision detection system |
| CN105738642A (en) * | 2016-02-03 | 2016-07-06 | 上海新源工业控制技术有限公司 | T-method motor speed measurement method of four-way parallel sampling |
| CN109489707A (en) * | 2018-11-06 | 2019-03-19 | 倍赫曼工业技术(天津)有限公司 | Incremental photoelectric encoder testing machine and testing method |
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