CN117232554A - Magnetic induction linear displacement absolute value encoder and data processing method and device thereof - Google Patents
Magnetic induction linear displacement absolute value encoder and data processing method and device thereof Download PDFInfo
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Abstract
The application discloses a magnetic induction linear displacement absolute value encoder and a data processing method and equipment thereof, wherein the encoder comprises the following components: a magnetic induction reading head, a rack mechanism and a magnetic force mechanism; the rack mechanism comprises a main rack and a vernier rack, and the number of teeth of the vernier rack is one less than that of the main rack; the magnetic force mechanism is positioned right above the magnetic induction reading head and is used for providing induction magnetic force lines for cutting the rack mechanism when the magnetic induction reading head is displaced; the magnetic induction reading head is positioned right above the rack mechanism, a gap is reserved between the magnetic induction reading head and the rack mechanism, the magnetic induction reading head can move along the axial direction of the rack mechanism along with an object to be measured, and sine-cosine orthogonal differential signals are generated according to magnetic force lines of the cutting induction of the rack mechanism, so that the absolute displacement of the object to be measured is obtained. The magnetic induction reading head is arranged between the magnetic force mechanism with strong magnetic induction intensity and the rack mechanism with double racks, so that the magnetic induction linear displacement absolute value encoder has strong anti-interference capability and can be applied to a strong magnetic interference environment.
Description
Technical Field
The application relates to the field of displacement measurement, in particular to a magnetic induction linear displacement absolute value encoder and a data processing method and device thereof.
Background
The conventional encoder is divided from a measurement function, and can be divided into an incremental encoder and an absolute encoder, and the incremental encoder can also be called an incremental encoder.
Wherein the increment value encoder is used for providing information of the current position relative to the previous position, and does not have the function of memorizing the current absolute position. When the electromechanical device is powered off, if the mechanical position is changed due to movement or rotation of the mechanical device by external force, the position is shifted, and when the electromechanical device is restarted, the incremental encoder cannot determine whether the current position signal is the same as the position signal recorded before the power off, so that the encoder must be adjusted to return to zero.
Each position of the absolute value encoder corresponds to a determined digital code, so that its indication is only related to the start and end positions of the measurement, and not to the intermediate course of the measurement. When the electromechanical device is powered off and is powered back again, the absolute value encoder can instantly read the current rotation angle or absolute position of the rotating shaft.
The existing magnetic induction encoder is a sensor for detecting angles, positions, speeds and accelerations, is equipment for compiling and converting angular displacement or linear displacement of mechanical rotation into an electric signal form which can be used for communication, transmission and storage, is a precise measuring device with tightly combined machinery and electronics, and is widely applied to various fields of motors, automobiles, wind power, robots and the like.
Magnetic induction encoders are based on magnetic sensor technology, which is widely used in modern industry and electronics to measure physical parameters such as current, position, direction, etc. by sensing the strength of a magnetic field and its distribution. In the prior art, there are many different types of sensors for measuring magnetic fields and other parameters, such as magnetic sensors employing Hall (Hall) elements, anisotropic magnetoresistance (anisometric MagnetoResistance, AMR) elements, giant magnetoresistance (Gaint MagnetoResistance, GMR) elements, tunnel magnetoresistance TMR (TunnelMagnetoResistance) elements as measurement sensitive elements. Compared with other magnetic sensing elements, the tunnel magneto-resistance element has the advantages of micro power consumption, high resolution, large dynamic range, excellent temperature stability, extremely high sensitivity and the like. The absolute value encoder has the advantage of instant reading, and the absolute value encoder combines the magnetic induction encoder adopting the tunnel magneto-resistance element, and has the advantages of micro power consumption, high resolution, large dynamic range, excellent temperature stability, extremely high sensitivity, instant reading and the like in the aspect of measuring linear displacement.
The magnetic grating ruler is an element of a magnetic induction absolute value encoder for linear displacement measurement, which is commonly found in the industrial production automation machinery industry, and is composed of a magnetic ruler and a magnetic head. The N (north pole) S (south pole) -SN-NS poles on the magnetic scale form electromagnetic fields with different orientations, and the magnetic head senses the transformation of the electromagnetic field and converts the transformation of the electromagnetic field into an analog input data signal or a data quantity data signal output in the full travel along the magnetic scale. The magnetic grating ruler has high measurement precision, but because the magnetic ruler is thin, the strength of a magnetic field generated by the magnetic grating ruler is weak, and the magnetic grating ruler can fail in some strong magnetic environments.
Disclosure of Invention
The application aims to solve the technical problem that the existing magnetic induction absolute value encoder cannot be applied to a strong magnetic interference environment, and provides a magnetic induction linear displacement absolute value encoder, a data processing method and data processing equipment.
The technical problems of the application are solved by the following technical scheme:
a magnetically induced linear displacement absolute value encoder, comprising: a magnetic induction reading head, a rack mechanism and a magnetic force mechanism;
the rack mechanism comprises a main rack and a vernier rack, and the number of teeth of the vernier rack is one less than that of the main rack;
the magnetic force mechanism is positioned right above the magnetic induction reading head and is used for providing induction magnetic force lines for cutting the rack mechanism when the magnetic induction reading head is displaced;
the magnetic induction reading head is positioned right above the rack mechanism, a gap is reserved between the magnetic induction reading head and the rack mechanism, the magnetic induction reading head can move along the axial direction of the rack mechanism along with an object to be measured, and the magnetic induction reading head cuts the induction magnetic force lines according to the rack mechanism to generate sine-cosine orthogonal differential signals, so that the absolute displacement of the object to be measured is obtained.
In some embodiments, a high permeability sheet is disposed between the magnetic force mechanism and the magnetic induction readhead.
In some embodiments, the rack mechanism further comprises an external magnetic shielding mechanism positioned outside the rack mechanism, wherein the external magnetic shielding mechanism is made of a material with high magnetic permeability.
In some embodiments, the gap between the magnetic inductive reading head and the rack mechanism is 0.1mm to 0.3mm.
In some embodiments, the magnetic induction reading head includes a magnetic induction chip, a circuit board, and a housing, the circuit board being enclosed within the housing, the magnetic induction chip being located at a midpoint of a back side of the circuit board.
In some embodiments, the housing is plastic or plastic.
In some embodiments, the magnetic mechanism employs magnetic steel or rare earth permanent magnets.
The application also provides a data processing method based on the magnetic induction linear displacement absolute value encoder, which comprises the following steps:
s1: the magnetic induction reading head cuts the induction magnetic force lines according to the rack mechanism to generate sine-cosine orthogonal differential signals; correcting and compensating the direct-current bias error, the amplitude error and the quadrature phase error of the sine-cosine quadrature differential signal in real time;
s2: respectively generating high-line digital phase shift position values relative to the power-on time according to the corrected and compensated sine-cosine quadrature differential signals;
s3: and analyzing the phase and the phase difference of the sine and cosine quadrature differential signals according to a vernier resolving principle, and calculating the absolute position of the current linear displacement through the relative position value of the high linear number displacement.
The application also provides equipment comprising the magnetic induction linear displacement absolute value encoder.
Compared with the prior art, the application has the beneficial effects that:
according to the magnetic induction linear displacement absolute value encoder provided by the application, the magnetic induction reading head is arranged between the magnetic force mechanism with strong magnetic induction intensity and the rack mechanism with double racks, and the magnetic induction chip in the magnetic induction reading head generates sine and cosine orthogonal differential signals when the magnetic induction linear displacement absolute value encoder works, and the absolute displacement value and the current linear displacement absolute position of a measured object are calculated according to the sine and cosine orthogonal differential signals by a vernier resolving principle, so that the magnetic induction linear displacement absolute value encoder can be applied to a strong magnetic interference environment.
In some embodiments, there are also the following benefits:
by arranging the high-permeability sheet with high permeability between the magnetic force mechanism and the magnetic induction chip, the uniformity of the back magnetic field generated by the magnetic force mechanism is ensured, and the measurement accuracy of the magnetic induction linear displacement absolute value encoder is improved.
And an external magnetic shielding mechanism made of high-permeability materials is arranged outside the rack mechanism, so that the interference of an external magnetic field to the magnetic induction linear displacement absolute value encoder is further shielded.
Other advantages of embodiments of the present application are further described below.
Drawings
FIG. 1 is a cross-sectional view of a magnetically induced linear displacement absolute value encoder in accordance with an embodiment of the present application.
Fig. 2 is a top view of a magnetically induced linear displacement absolute value encoder in accordance with an embodiment of the present application.
Fig. 3 is an exploded view of a magnetically induced linear displacement absolute value encoder in accordance with an embodiment of the present application.
Fig. 4 is a right side view of a magnetically induced linear displacement absolute value encoder in an embodiment of the present application.
FIG. 5 is a top view of an external magnetic shielding mechanism assembled with a magnetic induction linear displacement absolute value encoder according to an embodiment of the present application.
FIG. 6 is a perspective view of a magnetic inductive read head of a magnetic inductive linear displacement absolute value encoder in an embodiment of the application.
Fig. 7 is a diagram illustrating a frame format of the BISS protocol in accordance with an embodiment of the present application.
The reference numerals are as follows:
the magnetic shielding device comprises a 1-plastic upper cover, a 2-mounting screw, a 3-vernier rack, a 4-main rack, a 5-plastic bottom shell, a 6-magnetic induction chip, a 7-circuit board, an 8-high magnetic permeability sheet, 9-magnetic steel, 10-epoxy resin glue, 11-transmission lines and 12 external magnetic shielding mechanisms.
Detailed Description
The application will be further described with reference to the following drawings in conjunction with the preferred embodiments. It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other.
It should be noted that, in this embodiment, the terms of left, right, upper, lower, top, bottom, etc. are merely relative terms, or refer to the normal use state of the product, and should not be considered as limiting.
In order to solve the technical problem that a magnetic grating ruler in the prior art cannot be applied to an environment with strong magnetic interference, an embodiment of the application provides a magnetic induction displacement absolute value encoder suitable for the environment with strong magnetic interference, which comprises the following components: a magnetic induction reading head, a rack mechanism and a magnetic force mechanism; the rack mechanism comprises a main rack and a vernier rack, and the number of teeth of the vernier rack is one less than that of the main rack; the magnetic force mechanism is positioned right above the magnetic induction reading head and is used for providing a permanent magnetic working magnetic field of the whole encoder for magnetic induction change, so as to provide induction magnetic force lines of the cutting rack mechanism when the magnetic induction reading head displaces; the magnetic induction reading head is positioned right above the rack mechanism, a gap is reserved between the magnetic induction reading head and the rack mechanism, the magnetic induction reading head can move along the axial direction of the rack mechanism along with an object to be measured, and a sine-cosine orthogonal differential signal is generated according to the magnetic resistance change of the concave-convex structure on the rack mechanism, specifically, the sine-cosine orthogonal differential signal is generated by cutting induction magnetic force lines according to the concave-convex structure on the rack mechanism, so that the absolute displacement of the object to be measured and the absolute position of the current linear displacement are obtained. Specifically, the magnetic induction reading head is located between the magnetic force mechanism and the rack mechanism, and the magnetic induction reading head and the magnetic force mechanism are installed together and can do relative movement along the axial direction of the rack mechanism. The concave-convex structure on each rack mechanism is composed of teeth with the same size and the same interval, and the distance between the teeth on the main rack is smaller than the distance between the teeth on the vernier rack because the main rack is one tooth more than the vernier rack and the total length of the main rack and the vernier rack is the same.
In some embodiments, a high permeability sheet is disposed between the magnetic force mechanism and the magnetic induction readhead. Specifically, the clearance between the magnetic induction reading head and the rack mechanism is 0.1mm to 0.3mm, and the magnetic force mechanism adopts magnetic steel or high-performance rare earth permanent magnets.
In other embodiments, the magnetic induction linear displacement absolute value encoder further comprises an external magnetic shielding mechanism positioned outside the rack mechanism, wherein the external magnetic shielding mechanism is made of a material with high magnetic permeability. Specifically, the external magnetic shielding mechanisms are abutted against two sides of the rack mechanism, and each external magnetic shielding mechanism comprises two external magnetic shielding units which are the same as the rack mechanism in size, and the external magnetic shielding units are arranged on the outer side of the rack mechanism.
Specifically, the magnetic induction reading head comprises a magnetic induction chip, a circuit board and a shell, wherein the circuit board is packaged in the shell, and the magnetic induction chip is positioned at the right center of the back surface of the circuit board. Specifically, the shell is made of plastic or plastic materials.
The embodiment of the application also provides a data processing method based on the magnetic induction linear displacement absolute value encoder, which comprises the following steps:
s1: the magnetic induction displacement absolute value encoder applies a rack induction magnetic force line working principle to perform non-contact scanning on double racks with the tooth number difference of 1, a magnetic induction reading head cuts the induction magnetic force line according to a rack mechanism to generate a corresponding number of high-reliability sine-cosine quadrature differential signals, and direct-current offset errors, amplitude errors and quadrature phase errors of the sine-cosine signals are corrected and compensated in real time, so that high-precision interpolation subdivision of the sine-cosine signals is realized.
S2: in the magnetic induction linear displacement absolute value encoder, respectively generating high linear displacement relative position values relative to the power-on time for two tracks (namely corrected sine and cosine orthogonal differential signals) of a double rack 。
S3: the phase and the phase difference between two tracks (namely sine and cosine quadrature differential signals) are analyzed according to a vernier resolving principle, and the phase difference in one stroke are fixed and regular, so that the absolute position and the absolute displacement of the current linear displacement can be calculated through the relative position value of the high-line digital displacement line number in the magnetic induction linear displacement absolute value encoder.
The specific operation is as follows: when the magnetic induction reading head moves, the magnetic resistance change of the concave-convex structure on the rack mechanism can cause the main chip to generate sine-cosine orthogonal differential signals. And calculating the current displacement absolute value by carrying out arctangent operation and vernier calculation algorithm on the original sine and cosine orthogonal differential signals in the main chip.
The embodiment of the application also provides equipment comprising the magnetic induction linear displacement absolute value encoder.
Examples:
the magnetic induction linear displacement absolute value encoder provided by the embodiment of the application is provided with the ferromagnetic magnetic force mechanism which is arranged right above the magnetic induction reading head, the encoder applies the rack mechanism to induce magnetic force lines in the magnetic field of the magnetic force mechanism, and calculates the absolute displacement of the measured object and the absolute position of the current linear displacement according to the vernier resolving principle, so that the magnetic induction linear displacement absolute value encoder can work in a magnetic interference environment smaller than the magnetic induction intensity of the magnetic force mechanism 。
The magnetic induction linear displacement absolute value encoder of the embodiment comprises a rack mechanism for measurement and a magnetic induction reading head, wherein the magnetic induction reading head is positioned right above the rack mechanism, and moves along the axial direction of the rack mechanism along with an object to be measured. The gap between the magnetic induction reading head and the rack mechanism for measurement is 0.1mm to 0.3mm.
The rack mechanism for measurement is a double-code rack, the number of teeth of the main rack 4 is Z, the number of teeth of the vernier rack 3 is Z-1, namely, the number of teeth of the main rack 4 is different from the number of teeth of the vernier rack 3 by 1, the number of teeth of the main rack 4 is preferably 32 teeth (namely Z=32), and the number of teeth of the vernier rack 3 is 31 (namely Z-1=31).
The magnetic induction reading head comprises a magnetic induction chip 6, a circuit board 7 and a shell, wherein the magnetic induction chip 6 and the circuit board 7 are packaged in the shell through epoxy resin glue 10, the shell in the embodiment is made of plastic, a circuit part (namely the circuit board 7) of the magnetic induction reading head is packaged in the plastic shell, the plastic shell comprises a plastic upper cover 1 and a plastic bottom shell 5, the plastic upper cover 1 and the plastic bottom shell 5 are fixedly connected through mounting screws 2, as shown in fig. 6, the magnetic induction chip 6 is located at the very center of the circuit board 7, a magnetic mechanism is mounted right above the magnetic induction chip 6, the magnetic mechanism in the embodiment is magnetic steel 9, and the magnetic steel 9 is packaged in the shell through the epoxy resin glue 10 in the embodiment. When the magnetic induction reading head moves along the axial direction of the rack mechanism along with the measured object, the sine and cosine orthogonal differential signals generated by the magnetic induction chip 6 are subjected to internal signal conditioning and filtering, absolute displacement and the absolute position of the current linear displacement are calculated through a vernier resolving principle, the sine and cosine orthogonal differential signals of the encoder are output through the transmission line 11, the magnetic induction chip in the embodiment is a single chip with high integration level, specific signal conditioning, vernier resolving algorithm, output protocol and other functions are integrated in the chip, and all functions of the sensor can be realized through the single chip; the transmission line 11 in this embodiment is a 6-core shielding twisted pair cable, and specifically, the transmission line 11 outputs through serial communication protocol interfaces such as BISS (a full duplex synchronous serial bus communication protocol), SSI (synchronous serial interface), and the like.
In this embodiment, the frame format of the BISS protocol is shown in fig. 7, wherein the dotted wavy portion represents a plurality of repetitions, and the dotted square portion is a detailed description of "Data 26Bit", specifically including 1 Bit reserved Bit, 19 bits Data Bit, and 6 bits complementary 0 Bit. The character interpretation is shown in Table 1, where CK is the clock signal; d is a data signal; ack is the request bit; start is the Start bit; CDS is a flag bit, generally 0; data is a Data bit; error is the Error bit; warning is a warning bit; CRC is a check bit, MSB is an abbreviation for Most Significant Bit, referring to the most significant bit.
TABLE 1
In this embodiment, a high magnetic permeability sheet 8 is added between the magnetic steel 9 and the magnetic induction chip 6 of the magnetic induction reading head, so as to ensure the uniformity of the magnetic field of the magnetic force mechanism, and in this embodiment, the high magnetic permeability sheet 8 is encapsulated in the housing through an epoxy resin glue 10. The working principle of the high permeability sheet 8 is as follows: the magnetic field lines are always perpendicular to the surface of the ferromagnetic substance, and the magnetic field lines are closed and bent at the edges of the ferromagnetic substance NS, and are equivalent to parallel magnetic fields in parallel planes at a certain distance in the middle. Placing the high-permeability thin plate is equivalent to increasing the magnetic pole emitting surface, increasing the area of the uniform parallel magnetic field, and improving the uniformity of the magnetic field in a certain induction area. After the uniformity of the magnetic field is improved, the measurement accuracy is improved.
As shown in fig. 5, in this embodiment, the external magnetic shielding mechanism 12 made of high magnetic permeability material is used to perform external magnetic shielding on the rack mechanism and the magnetic induction reading head, specifically, an external magnetic shielding mechanism 12 with a size close to that of the rack mechanism is placed on two sides of the rack mechanism; more specifically, the external magnetic shielding mechanisms are closely installed at two sides of the rack mechanism, the external magnetic shielding mechanisms 12 are made of high-permeability materials, wherein the adopted high-permeability materials can be materials such as a climbing film alloy, a silicon steel sheet, easy-to-turn iron and the like, and play a role in shielding external magnetic interference, and the working principle is as follows: according to the theory of electromagnetic field, the purpose of magnetostatic shielding is to prevent external magnetostatic field and low-frequency current magnetic field from entering a certain area to be protected, and a magnetic medium is needed to be used as a shell. A housing made of a high conductivity or high permeability material is a good electromagnetic shielding device. The conductivity or the magnetic conductivity of the shell cover material is improved, the thickness of the shell wall is increased, and the electromagnetic shielding effect can be improved. The shielding mechanism is as follows: the magnetic field in the shielding body is greatly weakened by the branching action of the magnetic flux due to the low magnetic resistance of the high magnetic conduction material, and the main shielding mechanism is to absorb the interference electromagnetic wave. The displacement encoder effectively solves the problem that the displacement encoder of the current magnetic grating ruler cannot work in a strong magnetic environment.
The foregoing is a further detailed description of the application in connection with the preferred embodiments, and it is not intended that the application be limited to the specific embodiments described. It will be apparent to those skilled in the art that several equivalent substitutions and obvious modifications can be made without departing from the spirit of the application, and the same should be considered to be within the scope of the application.
Claims (9)
1. A magnetically induced linear displacement absolute value encoder, comprising: a magnetic induction reading head, a rack mechanism and a magnetic force mechanism;
the rack mechanism comprises a main rack and a vernier rack, and the number of teeth of the vernier rack is one less than that of the main rack;
the magnetic force mechanism is positioned right above the magnetic induction reading head and is used for providing induction magnetic force lines for cutting the rack mechanism when the magnetic induction reading head is displaced;
the magnetic induction reading head is positioned right above the rack mechanism, a gap is reserved between the magnetic induction reading head and the rack mechanism, the magnetic induction reading head can move along the axial direction of the rack mechanism along with an object to be measured, and the magnetic induction reading head cuts the induction magnetic force lines according to the rack mechanism to generate sine-cosine orthogonal differential signals, so that the absolute displacement of the object to be measured is obtained.
2. The magnetically induced linear displacement absolute value encoder of claim 1, wherein a high permeability sheet is disposed between the magnetic force mechanism and the magnetically induced readhead.
3. The magnetically induced linear displacement absolute value encoder of claim 1, further comprising an external magnetic shield located outside the rack mechanism, the external magnetic shield being made of a material having a high magnetic permeability.
4. The magnetically induced linear displacement absolute value encoder of claim 1, wherein a gap between the magnetically induced read head and the rack mechanism is 0.1mm to 0.3mm.
5. The magnetic induction linear displacement absolute value encoder of claim 1, wherein the magnetic induction reading head comprises a magnetic induction chip, a circuit board and a housing, the circuit board being packaged in the housing, the magnetic induction chip being located at the very center of the back side of the circuit board.
6. The magnetically induced linear displacement absolute value encoder of claim 5, wherein the housing is plastic or plastic.
7. The magnetically induced linear displacement absolute value encoder of claim 1, wherein the magnetic mechanism employs magnetic steel or rare earth permanent magnets.
8. A data processing method based on a magnetically induced linear displacement absolute value encoder according to any one of claims 1 to 7, comprising the steps of:
s1: the magnetic induction reading head cuts the induction magnetic force lines according to the rack mechanism to generate sine-cosine orthogonal differential signals; correcting and compensating the direct-current bias error, the amplitude error and the quadrature phase error of the sine-cosine quadrature differential signal in real time;
s2: respectively generating high-line digital phase shift position values relative to the power-on time according to the corrected and compensated sine-cosine quadrature differential signals;
s3: and analyzing the phase and the phase difference of the sine and cosine quadrature differential signals according to a vernier resolving principle, and calculating the absolute position of the current linear displacement through the relative position value of the high linear number displacement.
9. An apparatus comprising a magnetically induced linear displacement absolute value encoder according to any one of claims 1 to 7.
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