CN202841036U - Line sequence identification device of sine/cosine coder - Google Patents
Line sequence identification device of sine/cosine coder Download PDFInfo
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- CN202841036U CN202841036U CN2012204661048U CN201220466104U CN202841036U CN 202841036 U CN202841036 U CN 202841036U CN 2012204661048 U CN2012204661048 U CN 2012204661048U CN 201220466104 U CN201220466104 U CN 201220466104U CN 202841036 U CN202841036 U CN 202841036U
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Abstract
A line sequence identification device of a sine/cosine coder fundamentally eliminates the problem that because the sine/cosine coder exists a wiring fault, a motor can not be operated normally. The line sequence identification device of the sine/cosine coder comprises a sine/cosine signal processing module, a line sequence identification module and a control loop. The technical main points are that the sine/cosine signal processing module enables a signal acquisition unit, an operation amplification unit, an analog-digital conversion unit and a level comparison unit to form a signal processing loop, and the line sequence identification module takes a chip possessing a logic management function as an information processing and data calculation core, forms a line sequence detection identification loop with a digital quantity processing unit, a calculating and table look-up unit and an effective line sequence identification unit, and calculates corresponding a CD signal initial position and an AB signal real-time position. The line sequence identification device of the sine/cosine coder is reasonable in structure and design, simple and convenient in operation and easy in debugging, can determine the signal line sequences of a motor rotor magnetic pole initial position and a real-time position accurately, and guarantees that the motor can be started and operated stably.
Description
Technical field
The utility model relates to a kind of checkout gear for magnetic pole position of permanent magnet synchronous motor rotor, particularly a kind of sine and cosine encoder line order device for identifying of analyzing to obtain rotor magnetic pole initial position of permanent magnet synchronous machine and real time position based on code device signal line order.Belong to permagnetic synchronous motor control technology field.
Background technology
The permagnetic synchronous motor system of field orientation control, with its linear torque control characteristic and advantages such as high efficiency and High Power Factor good as DC motor, in the industries such as elevator, lathe, oil field and other various high-precision servo systems, be widely used.The key that realizes field orientation control is to guarantee at any time rotor flux and stator armature magnetomotive force quadrature, in case the rotor magnetic pole position deviation of obtaining surpasses ± 90 ° of electric angles, permagnetic synchronous motor will rotate on the contrary with given traffic direction, causes out of control.Therefore, system must obtain the rotor position of magnetic pole exactly, comprises the initial position of rotor magnetic pole in order to starter motor, and constantly obtains the real time position of rotor magnetic pole in rotary course, and the control motor is according to given rotating speed stable operation.
Prior art has much for the detection method of rotor magnetic pole initial position, Part Methods even use location transducer not, after stator winding is applied the voltage of variation, utilize the current difference that the magnetic resistance difference is brought on the space to calculate position of magnetic pole.For example publication number is " detecting the method and system of rotor magnetic pole initial position of permanent magnet synchronous machine " of CN101369796A, and publication number is CD101594114A " method for determining initial position angle of rotor of permanent magnet synchronous motor " etc.But there is maximum problem in this class technical scheme, and the real time position that is exactly rotary course rotor magnetic pole can't obtain, and so just causes successfully starter motor of drive system, but must use the control mode operation motor of position-sensor-free.Therefore, in the drive system of permagnetic synchronous motor, especially need in the servo system of high precision position and speed control, adopt maximum position transducers with initial position feedback signal that still utilizes to obtain the rotor permanent magnet poles position.
In engineering is used, often use sine and cosine encoder to obtain the rotor position of magnetic pole as position transducer.This code device signal is processed fast, numerical value is intuitively easy-to-use, can obtain higher feedback accuracy, for example in apparatus for controlling elevator, adopt sine and cosine encoder, can utilize the high precision velocity feedback of segmentation to realize that non-loaded compensation starts, thereby in the situation that the car weighing device is not installed, also can obtain good startup comfort.Sine and cosine encoder can be exported five road signals, and A, B two-way analog signal provide the cosine and sine signal in every 2048 cycles of circle, produces 8192 line pulse signals after 4 frequencys multiplication of being everlasting as speed and position feedback, also can carry out the segmentation of larger line number; C, D two-way analog signal provide the cosine and sine signal in every 1 cycle of circle, the foundation of judging as initial position after sampling is resolved because the restriction of resolving accuracy is everlasting; Another road is the R pulse signal, and motor whenever revolves to turn around and produces the R pulse of a fixed position, as the correction of AB signal pulse counting.Drive system utilizes the positional value of CD signal resolution to obtain the magnetic pole initial position of rotor permanent magnet when starting first, the pulse of record AB subdivision obtains real-time rotor-position feedback when normal operation, and utilizes the R pulse of encoder absolute position to count correction.
Because the output of sine and cosine encoder is differential signal, be that every road output signal all comprises positive and negative holding wire, therefore for sine and cosine encoder five tunnel output signals, possible wiring line order is up to 3628800 kinds, and only have the normal line order a kind of according to the line order that rotor-position is correctly obtained in standard method, the situation of part signal broken string or virtual connection also very easily appears in this external engineering site.Prior art is CN201374683Y " sine and cosine photoelectric encoder " about the report with signal transmission of manufacturing and designing of sine and cosine encoder such as notification number, and notification number is CN202189574U " a kind of novel sine and cosine encoder cable " etc.; Or about the report of the method and apparatus of the collection of sine and cosine encoder analog signal and segmentation, be CN202009380U " sine and cosine encoder capture card " such as notification number, and notification number is CN202041221U " a kind of subdividing device of sine/cosine encoder " etc., in above-mentioned these patent documentations all not to the in addition identification of line order of code device signal.When the wiring of signal is nonstandard directrix order the or when fault such as broken string occurs, not only may cause the initial position that obtains wrong, electric current is excessive when causing startup, even direct inverted running, sometimes in also can the rotation after startup, because very big deviation appears in real time position and the actual position of magnetic pole that obtains, therefore so that motor is fully out of control, so that cause serious accident.
Summary of the invention
The purpose of this utility model provides a kind of sine and cosine encoder line order device for identifying, fundamentally get rid of the problem that exists wiring faults to cause motor normally to move owing to sine and cosine encoder, its reasonable in design, easy and simple to handle, debugging easily, can accurately judge the holding wire order of rotor magnetic pole initial position and real time position, realized before startup and the exact position that can obtain the rotor magnetic pole of permagnetic synchronous motor in service, guarantee motor can smooth starting, stable operation.
The technical scheme that the utility model adopts is: this sine and cosine encoder line order device for identifying comprises cosine and sine signal processing module and line order recognition module and control loop, its technical essential is: described cosine and sine signal processing module is by signal gathering unit, the operation amplifier unit, AD conversion unit, the level comparing unit forms signal conditioning circuit, AB and CD two-way sine and cosine differential signal with the output of capturing and coding device, after carrying out operation amplifier, obtain digital quantity corresponding to this two-way cosine and sine signal magnitude of voltage through analog-to-digital conversion, and by the level comparing unit AB signal sampling result is subdivided into the two-way pulse output that differs 90 ° after relatively through reference voltage; Line order recognition module is take 32 ARM chips with logic manage function as information processing and the core calculated of data, with the digital quantity processing unit, calculate and lookup unit, active line order identification unit forms line order detection and identification loop, to parse positional value corresponding to front CD signal, and analyze by AB and the CD two-way digital quantity result to cosine and sine signal processing module input, pick out the classification that the current encoder wiring is active line order and active line order, point out the order of more relocating to the invalid fault of quoting of line order, and forbid moving motor, the line order is effectively directly calculated corresponding CD signal initial position and AB signal real time position according to its classification.
Advantage and the good effect that the utlity model has are: the utility model is owing to having adopted by signal gathering unit, the operation amplifier unit, AD conversion unit, the level comparing unit forms signal conditioning circuit and take 32 ARM chips with logic manage function as the core of information processing with data calculating, with the digital quantity processing unit, calculate and lookup unit, active line order identification unit forms line order detection and identification loop, so its reasonable in design, easy and simple to handle, debugging easily can accurately be judged the holding wire order of rotor magnetic pole initial position and real time position.The utility model is in conjunction with the motor self-learning function, solved present numerous electric machine control system, comprised in the external import frequency converter product of part, although can finish the motor self study, but do not point out encoder wiring to have fault, the problem that causes motor normally to move.And the utility model had both been finished the integration of the parameter of electric machine and angle, the control hidden danger of having avoided again encoder wiring to slip up and bring to drive system in motor self study operation.Therefore, fundamentally get rid of the above-mentioned wiring faults that encoder wiring line order is not carried out the identification existence, and the electric motor starting that causes or operating overcurrent, the problem that has a strong impact on the normal operation of motor such as out of control, realized before startup and the exact position of the rotor magnetic pole of acquisition permagnetic synchronous motor in service, guarantee motor can smooth starting, stable operation, promoted Security of the system.In addition, the utility model all is not summarized as the valid lines order with whole non-standard connect line orders, for can be by calculating the nonstandard directrix order of initial position or real time position, after picking out the wiring type, all process according to the active line order, provide corresponding computational methods, and the prompting change wiring that can not report an error has further been simplified debug process, more intelligent and high-efficiency.
Description of drawings
Below in conjunction with accompanying drawing the utility model is further described.
Fig. 1 is a kind of application principle block diagram of the present utility model;
Fig. 2 is the theory diagram of cosine and sine signal processing module among Fig. 1;
Fig. 3 is the theory diagram of Fig. 1 center line order recognition module;
Fig. 4 is the utility model implementing procedure figure.
Sequence number explanation among the figure: 1 motor driven systems, 2 permagnetic synchronous motors, 3 sine and cosine encoders, 4 cosine and sine signal processing modules, 5 line order recognition module, the input of 6 sine and cosine difference analogue amount signals, 7 signal gathering unit, 8 operation amplifier unit, 9 AD conversion unit, 10 level comparing units, 11 CD signal sampling voltage digital amounts, 12 AB signal sampling voltage digital amounts, 13 AB pulse signals, 14 digital quantity processing units, 15 calculate and lookup unit, 16 CD signal resolution positional values, 17 line order identification units, the prompting that reports an error of 18 valid lines orders, 19 active line order classifications, 20 active line ordered pairs are answered position calculation unit.
Embodiment
Describe concrete structure of the present utility model in detail according to Fig. 1～3.This sine and cosine encoder line order device for identifying comprises cosine and sine signal processing module 4 and line order recognition module 5 and control loop.Utilize the signal conditioning circuit of encoder cosine and sine signal processing module 4 to finish the processing in the analog difference signal source that sine and cosine encoder 3 is exported, the identification of line order is finished according to signal processing results in line order detection and identification loop by line order recognition module 5, and calculate current encoder line order whether effectively and classification and the correspondence position of active line order, feed in the motor driven systems 1, normally move thereby can control permagnetic synchronous motor 2.
Wherein, encoder cosine and sine signal processing module 4 forms signal conditioning circuit by signal gathering unit 7, operation amplifier unit 8, AD conversion unit 9 and level comparing unit 10.This signal conditioning circuit be input as AB and CD two-way sine and cosine difference analogue amount signal 6, be output as CD signal sampling voltage digital amount 11, AB signal sampling voltage digital amount 12 and AB pulse signal 13.AB and CD two-way sine and cosine differential signal with the output of capturing and coding device, after carrying out operation amplifier, obtain digital quantity corresponding to this two-way cosine and sine signal magnitude of voltage through analog-to-digital conversion, and by the level comparing unit AB signal sampling result being subdivided into the two-way pulse output that differs 90 ° after relatively through reference voltage, this result is as the input of line order recognition module 5.32 ARM(Advanced RISC Machines with logic manage function of line order recognition module 5 uses) chip is as the core of information processing and data calculating, form line order detection and identification loop with digital quantity processing unit 14, calculating and lookup unit 15 and line order identification unit 17, to parse positional value corresponding to front CD signal, and analyze by AB and the CD two-way digital quantity result to cosine and sine signal processing module input, pick out the classification that the current encoder wiring is active line order and active line order, finish the identification of line order.If invalid output is reported an error of line order points out 18, and forbids moving motor; If the line order effectively will be judged active line order classification 19 and answer position calculation unit 20 to calculate corresponding CD signal initial position and AB signal real time position by the active line ordered pair.
The control procedure of above-mentioned each control loop is as follows: the signal conditioning circuit that encoder cosine and sine signal processing module 4 consists of is executable operations in order, with AB and CD two-way sine and cosine difference analogue amount signal 6, sample through signal gathering unit 7, operation amplifier unit 8 amplifies processing, AD conversion unit 9 is finished analog quantity after the conversion of digital quantity, obtain CD signal sampling voltage digital amount 11 and AB signal sampling voltage digital amount 12, wherein AB signal sampling voltage digital amount 12 through level comparing unit 10 by with reference voltage relatively after obtain the AB pulse signal 13 of 90 ° of mutual deviations, these three amounts are input in the line order detection and identification loop as the result of signal conditioning circuit.The line order detection and identification loop that line order recognition module 5 consists of is according to input variable CD signal sampling voltage digital amount 11 and AB signal sampling voltage digital amount 12, obtain the digital quantity operation result through digital quantity processing unit 14, wherein CD signal sampling voltage digital amount 11 obtains CD signal resolution positional value 16 with lookup unit 15 as calculated, these two results comprise that another input variable AB pulse signal 13 in this loop all will input in the line order identification unit 17, judge current encoder line order whether effectively and active line order classification, obtain the result of line order identification.
Implementing procedure is as shown in Figure 4: at first, the AB that utilization collects and CD two-way cosine and sine signal obtain the digital quantity magnitude of voltage after amplification and analog-to-digital conversion, owing to no matter being AB signal or CD signal, all be sinusoidal component and the cosine component of corresponding same angle, so the quadratic sum of two magnitudes of voltage that same road signal obtains must equal this digital quantity amplitude square, if do not wait then report fault, but and specific aim prompting change encoder AB signal or CD holding wire order, can further detect if the result is errorless, whether effectively this is for the first time identification of current encoder line order; Then, utilize motor driven systems control permagnetic synchronous motor open loop rotation, after detecting the R pulse signal, read AB signal pulse count value and CD signal resolution positional value, when judging that according to motor open loop drive characteristic motor has rotated to the R pulse sixth Machine cycle position, again read AB signal pulse count value and CD signal resolution positional value; Then, can carry out the whether effectively identification of the line order second time according to twice AB counted number of pulses, if the difference of this count value is corresponding with rotary distance, illustrate that the AB step-by-step counting do not lose, otherwise the prompting wiring that then reports an error is wrong, points out current encoder wiring to exist AB signal and the wiring of CD signal that the situation of exchanging occurs; At last, the direction of successively decreasing that increases progressively according to AB step-by-step counting twi-read value, in conjunction with the motor direction of rotation, calculate the AB signal wiring line order classification of current sine and cosine encoder and corresponding motor real time position, and according to the first time CD signal resolution positional value size and increase progressively the direction of successively decreasing, calculate the CD signal wiring line order classification of current sine and cosine encoder and corresponding motor initial position.
This sine and cosine encoder line order device for identifying can be divided into three steps to be finished: for the first time line order identification realizes under the motor inactive state, it is fixing constant according to the sine and cosine component quadratic sum that is same angle, whole 3628800 kinds of wiring line orders can be identified 768 kinds of line orders, other all can be judged to be the valid lines order, this identification process also can carry out when the motor operation suspension, can judge whether the current encoder wiring breaks; The AB signal pulse counting that for the second time line order identification is based in the motor rotary course should be consistent with rotary distance, can pick out 128 kinds and can provide the accurately line order of positional information according to code device signal output from differentiate the outlet order, this is the active line order of final decision; For the third time line order identification is the feedback according to motor code device signal in service, in conjunction with the motor direction of rotation, picks out the classification of active line order, provides corresponding position calculating method.Because CD signal resolution positional value is related with the R pulse position, may the carry switching occur 1/4th Machine cycle places simultaneously after the R pulse, therefore the test point set of the utility model is sixth Machine cycle place after the R pulse, can avoid participating in the data source generation carry of identification and causes the identification failure.Position calculating method has been solidificated in this line order device for identifying, can directly provide after the encoder wiring line order classification obtaining.
Claims (1)
1. sine and cosine encoder line order device for identifying, comprise cosine and sine signal processing module and line order recognition module and control loop, it is characterized in that: described cosine and sine signal processing module is by signal gathering unit, the operation amplifier unit, AD conversion unit, the level comparing unit forms signal conditioning circuit, AB and CD two-way sine and cosine differential signal with the output of capturing and coding device, after carrying out operation amplifier, obtain digital quantity corresponding to this two-way cosine and sine signal magnitude of voltage through analog-to-digital conversion, and by the level comparing unit AB signal sampling result is subdivided into the two-way pulse output that differs 90 ° after relatively through reference voltage; Line order recognition module is take 32 ARM chips with logic manage function as information processing and the core calculated of data, with the digital quantity processing unit, calculate and lookup unit, active line order identification unit forms line order detection and identification loop, to parse positional value corresponding to front CD signal, and analyze by AB and the CD two-way digital quantity result to cosine and sine signal processing module input, pick out the classification that the current encoder wiring is active line order and active line order, point out the order of more relocating to the invalid fault of quoting of line order, and forbid moving motor, the line order is effectively directly provided corresponding CD signal initial position and AB signal real time position according to its classification.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012204661048U CN202841036U (en) | 2012-09-14 | 2012-09-14 | Line sequence identification device of sine/cosine coder |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012204661048U CN202841036U (en) | 2012-09-14 | 2012-09-14 | Line sequence identification device of sine/cosine coder |
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| CN202841036U true CN202841036U (en) | 2013-03-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2012204661048U Expired - Lifetime CN202841036U (en) | 2012-09-14 | 2012-09-14 | Line sequence identification device of sine/cosine coder |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104749481A (en) * | 2015-03-12 | 2015-07-01 | 深圳市海浦蒙特科技有限公司 | Sine and cosine encoder offline detection method and system |
| CN109375039A (en) * | 2018-11-30 | 2019-02-22 | 江苏永钢集团有限公司 | A kind of photoelectric sensor Quick cable checking device |
| CN112834964A (en) * | 2020-12-30 | 2021-05-25 | 京信射频技术(广州)有限公司 | Method, device and equipment for detecting wiring sequence of self-adaptive combiner |
-
2012
- 2012-09-14 CN CN2012204661048U patent/CN202841036U/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104749481A (en) * | 2015-03-12 | 2015-07-01 | 深圳市海浦蒙特科技有限公司 | Sine and cosine encoder offline detection method and system |
| CN109375039A (en) * | 2018-11-30 | 2019-02-22 | 江苏永钢集团有限公司 | A kind of photoelectric sensor Quick cable checking device |
| CN109375039B (en) * | 2018-11-30 | 2024-04-16 | 江苏永钢集团有限公司 | Quick line calibrating device for photoelectric sensor |
| CN112834964A (en) * | 2020-12-30 | 2021-05-25 | 京信射频技术(广州)有限公司 | Method, device and equipment for detecting wiring sequence of self-adaptive combiner |
| CN112834964B (en) * | 2020-12-30 | 2023-05-26 | 京信射频技术(广州)有限公司 | Detection method, device and equipment for wiring line sequence of self-adaptive combiner |
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Granted publication date: 20130327 |