CN116793408A - Power-off correction method and equipment for single-turn absolute value encoder supporting multi-turn displacement - Google Patents
Power-off correction method and equipment for single-turn absolute value encoder supporting multi-turn displacement Download PDFInfo
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Abstract
The application discloses a power-off correction method and equipment for a single-turn absolute value encoder supporting multi-turn displacement. Firstly, calibrating the rotation speed of a driving shaft of an encoder and the displacement bus number of the encoder after the power of the driving shaft is cut off; then, the instantaneous speed, the rotation direction, the number of turns and the in-turn code reading at the moment of power failure of the encoder and the in-turn code reading at the moment of re-power-up of the encoder are obtained; determining the actual displacement bus number after power failure according to the calibrated rotating speed, the power failure displacement bus number and the instantaneous speed during power failure, and determining the whole number of turn changes and the margin of the number of lines in the turn by combining the single-turn bus number of the encoder; and finally, correcting the integral quantity of the change of the number of turns according to the relation among the number of turns in the turn code reading when the power is off, the number of turns in the turn code reading when the power is on and the margin of the number of turns in the turn, and further obtaining the corrected number of turns in the power on. The application is suitable for the situation that large-amplitude displacement possibly occurs after inertia is suddenly powered off, and further expands the application range of single-circle absolute value coding.
Description
Technical Field
The application relates to a single-turn absolute value encoder outage correction method and equipment supporting large-amplitude multi-turn displacement, and belongs to the technical field of encoders.
Background
The rotary encoder is a device for measuring the position or the rotation speed of a rotating shaft, and can be divided into an increment type and an absolute value type according to the encoding form and can be divided into a single circle and a plurality of circles according to the circle counting mode. The electronic multi-turn encoder has the advantages of large turn counting range, more flexible use, simple structure, low cost and the like, is widely applied, and has the defect that errors can be generated if certain displacement occurs after power failure. In order to realize displacement correction, the electronic multi-turn device can be composed of a single-turn absolute value encoder and an auxiliary loop counting device, and is usually powered by a backup power supply so as to ensure that the multi-turn displacement output is normal after power failure.
The prior Chinese patent application CN202211308522.9 of the inventor discloses a single-turn absolute value encoder outage correction method, which can correct the position when the encoder is powered up again after outage under the condition that a standby power supply is not required to be configured, and ensures accurate position data when the encoder is powered up again. The method can dynamically set the power-off displacement range, and correct the position when the encoder is powered on again after power-off, and the maximum unidirectional displacement range of the encoder can reach the encoding resolution (single-circle bus number) minus one during the period of no power. However, for some systems such as spindle screws with large inertia, the displacement of the spindle after sudden power failure exceeds one turn, and the power failure correction method of the prior application is difficult to be suitable for such situations, so that further research on the power failure correction method of the encoder in the system with large-amplitude multi-turn displacement possibly occurring after sudden power failure is still necessary.
Disclosure of Invention
The application aims to: aiming at the defects of the prior art, the application aims to provide a power-off correction method and equipment for a single-turn absolute value encoder supporting large-amplitude multi-turn displacement, which do not adopt any standby power supply or battery, can correct the encoder when the encoder is powered on again after power off, are suitable for the situation that large-amplitude displacement is possible after inertia is suddenly powered off, and further enlarge the application range of single-turn absolute value encoding.
The technical scheme is as follows: in order to achieve the above object, the present application provides a power-off correction method for a single-turn absolute value encoder supporting multiple-turn displacement, comprising the steps of:
calibrating the rotational speed of the encoder drive shaftAnd the displacement bus number of the encoder after the power of the driving shaft is cut off, and recording the calibrated rotating speed omega 0 And the corresponding power-off displacement bus number f 0 ；
Acquiring recorded instantaneous speed omega at the moment of power-off of an encoder 1 The rotation direction, the number of turns N when power is off and the reading alpha of the internal coding of the turns when power is off;
acquiring recorded in-loop code reading beta at the moment of re-electrifying the encoder;
according to the calibrated rotational speed omega 0 Number of power-off displacement buses f 0 And instantaneous speed ω at power down 1 Determining the displacement bus number f after actual power failure 1 And determining the number delta n of turns and the margin of the number of lines in the turns by combining the number Q of single-turn buses of the encoder
According to the in-circle code reading alpha when power is off, the in-circle code reading beta when power is on and the in-circle line number allowanceThe relation of the number of turns change integer is corrected, and the corrected number of turns M in power-on is obtained by combining the number of turns N in power-off and the corrected number of turns change integer delta M.
Specifically, the single-point calibration or the multi-point calibration is adopted for calibrating the rotation speed of a driving shaft of the encoder and the displacement bus number of the encoder after the power of the driving shaft is cut off; the single-point calibration is to select a rotation speed of a driving shaft and record the corresponding displacement bus number of the encoder after power failure; the multipoint calibration is to record the displacement bus number of the encoder after power failure under different driving shaft rotating speeds.
Preferably, the formula for calculating the displacement bus number after power failure is:
specifically, at f 1 >T, when the instant rotation direction of power failure is the same as the increasing direction of the coding value:
Δn＝f 1 /Q，and/and% represent rounding and surplus, respectively, for the divisor;
if it isAnd beta is<Q/R, Δm=Δn+1;
if it isAnd beta is>(R-1) Q/R, Δm=Δn-1;
in the rest of the cases, Δm=Δn;
wherein T is more than or equal to (R-1) Q/R, which is a preset threshold value, and R is more than or equal to 2, which is a preset constant, and is used for controlling the error range.
At f 1 >T, when the instant rotation direction of power failure is the same as the reduction direction of the coding value:
Δn＝-(f 1 /Q)，
if it isAnd beta is<Q/R, Δm=Δn+1;
if it isAnd beta is>(R-1) Q/R, Δm=Δn-1;
in the rest of the cases, Δm=Δn.
Specifically, the corrected number of power-up turns m=n+Δm; the exact position of the instant encoder is m×q+β.
Further, at f 1 When the number of turns N at power-off, the number of readings alpha of the intra-turn code at power-off, the number of readings beta of the intra-turn code at power-on and the set number of displacement dividing lines are less than or equal to (R-1) Q/RThe number of turns M at power-up is corrected.
In particular, whenIf the direction of (2) is preset to be the same as the direction of decreasing the encoding value>And->M=n+1; if->And->M=n-1; the remaining cases m=n; when->If the direction of (2) is preset to be the same as the increasing direction of the coding value>And->M=n+1; if->And is also provided withM=n-1; the remaining cases m=n.
Further, when the preset code value decreases in directionWhen beta is<Alpha; m=n+1; otherwise m=n; when the preset code value increases in direction +.>When beta is>α, then m=n-1; otherwise m=n.
The application also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the computer program is loaded to the processor to realize the power-off correction method of the single-turn absolute value encoder supporting multi-turn displacement.
The beneficial effects are that: compared with the prior art, the application has the following advantages: according to the encoder outage correction method provided by the application, the number of displacement buses after actual outage can be estimated according to the instantaneous speed at the outage moment by calibrating the rotation speed of the encoder and the number of displacement buses after outage, so that the number of turns after outage and the margin of the number of displacement lines in a circle can be estimated preliminarily, the number of turns change is corrected by further combining the number of coding readings before outage, the number of coding readings in a circle when outage and the margin of the number of displacement lines in a circle, and the accurate number of turns change is calculated, so that the accurate position of the encoder when outage is performed again is obtained. The application provides a solution for the situation that a large-amplitude multi-turn displacement occurs when a large inertia system is suddenly powered off, accurately corrects the displacement of the encoder after the power off, and further expands the application occasions of single-turn absolute value encoders.
Drawings
FIG. 1 is a flow chart of a method of an embodiment of the present application.
Fig. 2 is a schematic diagram of a situation where Δm=Δn+1 is the same as the direction of increasing the encoding value at the instant of power interruption according to an embodiment of the present application.
Fig. 3 is a schematic diagram of a situation where Δm=Δn-1 is the same as the direction of increasing the encoding value at the instant of power interruption according to an embodiment of the present application.
Fig. 4 is a schematic diagram of a situation where Δm=Δn+1 is the same as the code value decreasing direction when the power-off instant rotation direction is the same as the code value decreasing direction according to the embodiment of the present application.
Fig. 5 is a schematic diagram of a situation where Δm=Δn-1 is the same as the code value decreasing direction when the power-off instant rotation direction is the same as the code value decreasing direction according to the embodiment of the present application.
FIG. 6 is a diagram showing the arrangement of the number of dividing lines for backward displacement in the second embodiment of the present application; m=n+1 in (a) and m=n-1 in (b).
FIG. 7 is a diagram showing the case of setting the number of forward displacement boundaries in the second embodiment of the present application; m=n+1 in (a) and m=n-1 in (b).
Detailed Description
The technical scheme of the application will be clearly and completely described below with reference to the accompanying drawings and specific embodiments.
Example 1
As shown in FIG. 1, the embodiment of the application discloses a power-off correction method for a single-turn absolute value encoder supporting multi-turn displacement, which comprises the steps of firstly calibrating the rotation speed of a driving shaft of the encoder and the number of displacement buses of the encoder after the power of the driving shaft is powered off, and recording the calibrated rotation speed omega 0 And the corresponding power-off displacement bus number f 0 The method comprises the steps of carrying out a first treatment on the surface of the Then the recorded instantaneous speed omega of the power-off moment of the encoder is obtained 1 The rotation direction, the number of turns N when power is off and the reading alpha of the internal coding of the turns when power is off; the recorded coding reading beta in the power-on time circle at the moment of re-powering on the encoder is obtained; then according to the calibrated rotation speed omega 0 Number of power-off displacement buses f 0 And instantaneous speed ω at power down 1 Determining the actual post-outage displacement bus number f 1 And determining the number delta n of turns and the margin of the number of lines in the turns by combining the number Q of single-turn buses of the encoderFinally, according to the in-circle code reading alpha when power is off, the in-circle code reading beta when power is on and the in-circle line number allowance +.>The relation of the number of turns change integer is corrected, and the corrected number of turns M in power-on is obtained by combining the number of turns N in power-off and the corrected number of turns change integer delta M.
Specifically, the number of displacement buses of the encoder after the rotation speed of the driving shaft of the encoder and the power of the driving shaft are calibrated is actually the number of displacement buses of the encoder after the rotation speed of the encoder and the power of the encoder are calibrated, and the calibration can be performed in various modes. Single point calibration may be used, for example, it may be selected to adjust the drive speed to a maximum and then record the number of displacement buses of the encoder after power failure. The multi-point calibration can be adopted, the displacement bus number of the encoder after power failure at different speeds is recorded, and the calibration rotating speed closest to the current rotating speed is selected during operation so as to reduce operation errors. Because the application adopts the correction error correction algorithm, the error generated when the displacement buses with different speeds are calibrated and the error generated when the calculation is carried out do not influence the correctness of the correction result.
Since the drive shaft of the drive encoder is a braking process after power failure and the resultant torque does not change, the process from the instantaneous speed to the end speed 0 at the time of power failure can be regarded as a uniform deceleration process.
According to Γ=j×γ; wherein Γ represents an external moment, H represents moment of inertia, and γ represents angular acceleration.
And (3) the same principle:
the displacement bus number after the encoder is powered off is as follows:
according to the calibrated rotation speed omega 0 And the displacement bus number f after power failure in the process of calibrating the rotating speed 0 Instantaneous speed ω of encoder when power is off 1 The result f is obtained by applying the above formula 1 . Dividing the number of the single-turn buses Q of the encoder to obtain an integer and a remainder, thereby judging the change of the number of turns of the encoder after the power is turned on again.
Where,/and% represent the rounding and the remainder, respectively, of the divisor.
Error of delta n is corrected based on the in-loop code reading alpha when the encoder is de-energized and the in-loop code reading beta when power is restored. The following calculation of the value error range is to divide the resolution of the encoder into three equal values, and other value ranges, such as four equal values of the resolution of the encoder, can be set.
As shown in fig. 2 and 3, when the rotation direction is the same as the code value increasing direction at the power-off instant:
if it isAnd beta is<Q/3, Δm=Δn+1;
if it isAnd beta is>2Q/3, Δm=Δn-1;
in the rest of the cases, Δm=Δn.
As shown in fig. 4 and 5, when the rotational direction is the same as the code value decreasing direction at the power-off instant:
at this time delta n,Is negative, i.e
If it isAnd beta is<Q/3, Δm=Δn+1;
if it isAnd beta is>2Q/3, Δm=Δn-1;
in the rest of the cases, Δm=Δn.
It follows that the encoder is powered up again for a corrected number of turns m=n+Δm. And then the accurate position of the corrected encoder after power restoration is MxQ+beta can be determined together according to the in-loop code reading beta when the encoder resumes power supply, the number of turns M after power-on correction and the number of single-loop buses Q of the encoder.
By adopting the set error range correction calculation, the measurement and calculation errors generated in the encoder speed calibration process and the operation process do not influence the accuracy of the correction result.
The embodiment is used for the situations that the displacement amplitude is large due to the inertia effect after the encoder is powered off (the displacement bus number exceeds the preset threshold T after the power off is judged according to the instantaneous speed), the threshold T can be generally taken as 2Q/3 (in trisection as an example), the specific value can be adjusted according to the correction precision), and the displacement opposite to the movement direction is not generated at the position of the encoder when the power off is relatively powered off (the displacement boundary number is equivalent to the displacement boundary number in the direction opposite to the running direction in the following embodiment))。
Example two
When roughly judging that the outage displacement is less than or equal to a preset threshold (such as 2Q/3) according to the running speed, the outage correction method of the single-turn absolute value encoder disclosed in patent application CN202211308522.9 can be adopted by setting the number of displacement dividing lines forward (the increasing direction of the encoding value) or backward (the decreasing direction of the encoding value)According to the number of turns N at power-off, the number of readings alpha of the coding in the turns at power-off, the number of readings beta of the coding in the turns at power-on and the number of displacement dividing lines +.>The number of turns M at power-up is corrected.
In particularAs shown in FIG. 6, whenIf the direction of (2) is preset to be the same as the direction of decreasing the encoding value>And is also provided withM=n+1; if->And->M=n-1; the remaining cases m=n.
As shown in FIG. 7, whenIf the direction of (2) is preset to be the same as the increasing direction of the coding value>And is also provided withM=n+1; if->And->M=n-1; the remaining cases m=n.
In addition, when the preset encoding value decreases in directionWhen beta is<Alpha; m=n+1; otherwise m=n; when the preset code value increases in direction +.>When beta is>α, then m=n-1; otherwise m=n.
For example, a 12-bit encoder is selected, with a single-turn bus number q=4096. Alpha, beta,The arithmetic units of (a) are the line numbers. Preset->Is the direction of decreasing the code value. The position of the encoder when the power is off is S q =n×4096+α; when->And is also provided withWhen m=n+1; when->And-> When m=n-1; all other cases m=n. The position of the encoder after power-on correction is S x ＝M×4096+β。
Example III
An electronic device provided in an embodiment of the present application includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the computer program implements the steps of the foregoing method for power-off correction of a single-turn absolute value encoder supporting multiple-turn displacements when loaded into the processor.
Claims (10)
1. A single-turn absolute value encoder power-off correction method supporting multiple-turn displacement, comprising the steps of:
calibrating the rotational speed of the encoder drive shaftAnd the displacement bus number of the encoder after the power of the driving shaft is cut off, and recording the calibrated rotating speed omega 0 And the corresponding power-off displacement bus number f 0 ；
Acquiring recorded instantaneous speed omega at the moment of power-off of an encoder 1 The rotation direction, the number of turns N when power is off and the reading alpha of the internal coding of the turns when power is off;
acquiring recorded in-loop code reading beta at the moment of re-electrifying the encoder;
according to the calibrated rotational speed omega 0 Number of power-off displacement buses f 0 And instantaneous speed ω at power down 1 Determining the displacement bus number f after actual power failure 1 And determining the number delta n of turns and the margin of the number of lines in the turns by combining the number Q of single-turn buses of the encoder
According to the in-circle code reading alpha when power is off, the in-circle code reading beta when power is on and the in-circle line number allowanceThe relation of the number of turns change integer is corrected, and the corrected number of turns M in power-on is obtained by combining the number of turns N in power-off and the corrected number of turns change integer delta M.
2. The power-off correction method for a single-turn absolute value encoder supporting multiple-turn displacement according to claim 1, wherein the calibration of the rotational speed of a driving shaft of the encoder and the number of displacement buses of the encoder after power-off of the driving shaft adopt single-point calibration or multi-point calibration; the single-point calibration is to select a rotation speed of a driving shaft and record the corresponding displacement bus number of the encoder after power failure; the multipoint calibration is to record the displacement bus number of the encoder after power failure under different driving shaft rotating speeds.
3. The power-off correction method for a single-turn absolute value encoder supporting multiple-turn displacements according to claim 1, wherein the formula for calculating the number of displacement buses after power-off is:
4. the method for power-off correction of a single-turn absolute value encoder supporting multiple-turn displacements of claim 1, wherein at f 1 >T, when the instant rotation direction of power failure is the same as the increasing direction of the coding value:
Δn＝f 1 /Q，and/and% represent rounding and surplus, respectively, for the divisor;
if it isAnd beta is<Q/R, Δm=Δn+1;
if it isAnd beta is>(R-1) Q/R, Δm=Δn-1;
in the rest of the cases, Δm=Δn;
wherein T is more than or equal to (R-1) Q/R, which is a preset threshold value, and R is more than or equal to 2, which is a preset constant, and is used for controlling the error range.
5. The method for power-off correction of a single-turn absolute value encoder supporting multiple-turn displacements of claim 1, wherein at f 1 >T, when the instant rotation direction of power failure is the same as the reduction direction of the coding value:
Δn＝-(f 1 /Q)，and/and% represent rounding and surplus, respectively, for the divisor;
if it isAnd beta is<Q/R, Δm=Δn+1;
if it isAnd beta is>(R-1) Q/R, Δm=Δn-1;
in the rest of the cases, Δm=Δn;
wherein T is more than or equal to (R-1) Q/R, which is a preset threshold value, and R is more than or equal to 2, which is a preset constant, and is used for controlling the error range.
6. The power-off correction method for a single-turn absolute value encoder supporting multiple-turn displacement according to claim 1, wherein the corrected number of power-on turns m=n+Δm; the exact position of the instant encoder is m×q+β.
7. The method for power-off correction of a single-turn absolute value encoder supporting multiple-turn displacements of claim 1, wherein at f 1 When the number of turns N at power-off, the number of readings alpha of the intra-turn code at power-off, the number of readings beta of the intra-turn code at power-on and the set number of displacement dividing lines are less than or equal to (R-1) Q/RCorrecting the number M of turns when power is on; wherein R is more than or equal to 2 and is a preset constant, and is used for controlling the error range.
8. The method for power-off correction of a single-turn absolute value encoder supporting multiple-turn displacements according to claim 7, wherein whenIf the direction of (2) is preset to be the same as the direction of decreasing the encoding value>And->M=n+1; if it isAnd->M=n-1; the remaining cases m=n;
when (when)If the direction of (2) is preset to be the same as the increasing direction of the coding value>And->M=n+1; if->And->M=n-1; the remaining cases m=n.
9. The power-off correction method for single-turn absolute value encoder supporting multiple-turn displacement according to claim 7, wherein when the preset encoding value decreases in directionWhen beta is<Alpha; m=n+1; otherwise m=n; when the preset code value increases in direction +.>When beta is>α, then m=n-1; otherwise m=n.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the computer program when loaded to the processor implements a single turn absolute value encoder power down correction method supporting multiple turns of displacement according to any of claims 1-9.
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| CN202310045225.8A CN116793408A (en) | 2023-01-30 | 2023-01-30 | Power-off correction method and equipment for single-turn absolute value encoder supporting multi-turn displacement |
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| CN202310045225.8A CN116793408A (en) | 2023-01-30 | 2023-01-30 | Power-off correction method and equipment for single-turn absolute value encoder supporting multi-turn displacement |
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