CN203732079U - Motor absolute-position detecting device based on single-core bidirectional technology - Google Patents
Motor absolute-position detecting device based on single-core bidirectional technology Download PDFInfo
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- CN203732079U CN203732079U CN201320874688.7U CN201320874688U CN203732079U CN 203732079 U CN203732079 U CN 203732079U CN 201320874688 U CN201320874688 U CN 201320874688U CN 203732079 U CN203732079 U CN 203732079U
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Abstract
The utility model relates to a motor absolute-position detecting device based on single-core bidirectional technology, which comprises the components of: an upper computer, a driver module, an optical fiber, a transceiver module, an encoder and a motor; wherein the upper computer, the driver module, the optical fiber, the transceiver module, the encoder and the motor are successively connected. The optical fiber and the transceiver module comprise two encoder photoelectric adaption circuits which are connected through the optical fiber. A first encoder photoelectric adaption circuit and a second encoder photoelectric adaption circuit are respectively connected with the driver module and the encoder. According to the motor absolute-position detecting device based on the single-core bidirectional technology, bidirectional high-speed communication between the driver and the encoder is realized through one optical fiber, thereby improving reliability, real-time property, transmission speed and transmission distance in serial communication of the encoder, reducing number of the optical fibers and saving cost in wiring.
Description
Technical field
The utility model relates to a kind of rotor absolute position detecting device of applying single fiber two-way communication technology, can be applicable to the electrical servo system of robot and industry spot.
Background technology
The electric drive servo unit application of modern manufacturing industry is further extensive.No matter be the system of rotatablely moving, or linear motion system, all need the position detecting device of certain precision to feed back actuator real-time position information.Use metal wire medium transmission information not only in bandwidth, to be restricted, and in main equipment, long transmission line can bring challenges to signal integrity and the electromagnetic compatibility work of communication conventionally.
In the complex apparatus such as robot, power cable walks abreast, intersects with signal cable, navigates within metallic cavity inside, when different motors is worked at the same time, can there is power line to disturbing mutually between signal wire interference, signal wire, thus garble, the situation that servo unit cannot be worked.
Existing part fiber position feedback scheme adopts sending and receiving each by a light path more, needs altogether two optical fiber to complete.Due to the transceiver of optical communication and the cost of optical fiber higher, and two fibre side by side time the bending of cable be subject to certain restrictions, it is applied and is restricted.
Utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art, provide a kind of real-time, reliability is high, transfer rate is high, long transmission distance, cost are low, the rotor absolute position detecting device of the application single fiber bidirectional technique of strong interference immunity.
The technical scheme that the utility model adopted is for achieving the above object: the motor absolute position detecting device based on uni-core bidirectional technology, comprises host computer, Drive Module, optical fiber and the transceiver module, scrambler and the motor that are linked in sequence.
Described optical fiber comprises with transceiver module two scrambler photoelectricity adapter circuits that are connected by optical fiber, and the first scrambler photoelectricity adapter circuit is connected with Drive Module, scrambler respectively with the second scrambler photoelectricity adapter circuit.
Described scrambler photoelectricity adapter circuit adopts optical fiber driver module, differential driver, differential receiver and serial communication chip; The fiber port of optical fiber driver module connects optical fiber, transmitted signal end is connected with the output terminal of differential driver, the input end of differential driver is connected with the receiver output terminal of serial communication chip, the reception signal end of optical fiber driver module is connected with the input end of differential receiver, the output terminal of differential receiver is connected with the driver input end of serial communication chip, and A, the B output terminal of serial communication chip are connected with input end or the scrambler of Drive Module by bus.
Described scrambler photoelectricity adapter circuit also comprises comparer, and the positive input of the first operational amplifier of described comparer is connected with the input end of optical fiber driver module, and reverse input end connects VDD-to-VSS by divider resistance R15, resistance R 16 respectively; The first operational amplifier output terminal is connected with the input end of the second operational amplifier of comparer, the receiver Enable Pin of serial communication chip, the reverse input end of the second operational amplifier connects VDD-to-VSS by divider resistance R17, resistance R 18 respectively, and output terminal is connected with the driver Enable Pin of serial communication chip; The output terminal of described the first operational amplifier and the second operational amplifier is connected with power supply by pull-up resistor R17, pull-up resistor R22 respectively.
Between the transmitted signal end of described optical fiber driver module and the output terminal of differential driver U1 and between reception signal end and the input end of differential receiver, be connected with electric capacity, be also connected power supply, pass through resistance eutral grounding by pull-up resistor; The input end of described optical fiber driver module is also connected power supply, is passed through resistance R 13 ground connection by pull-up resistor R21.
The utlity model has following beneficial effect and advantage:
1. the utility model is only communicated by letter with the bidirectional high speed that an optical fiber is realized between driver and motor encoder, can improve reliability, real-time, transfer rate and the transmission range of encoder serial communication, reduces number of fibers, saves wiring cost.
2. the utility model can be anti-interference, is particularly useful for the occasion of the complex electromagnetic environments such as robot.
3. scrambler photoelectricity adapter circuit of the present utility model, can realize the conversion of light signal and electric signal, has solved the certainly receipts spontaneous problem of signal in the time of transmission simultaneously.
Brief description of the drawings
Fig. 1 is apparatus structure connection diagram of the present utility model;
Fig. 2 is optical fiber of the present utility model and transceiver module circuit block diagram;
Fig. 3 is scrambler photoelectricity adapter circuit figure;
Fig. 4 is hybrid multi-turn absolute optical encoder schematic diagram;
Fig. 5 is the interior light path principle figure of single-fiber-optic two-way wavelength division multiplexing lens in optical fiber driver module;
Frame format schematic diagram when Fig. 6 is encoder serial transmission data;
Fig. 7 is Method And Principle process flow diagram of the present utility model;
Fig. 8 is the actual measurement communication NRZ oscillogram that is reduced to electric signal through opto-electronic conversion;
Fig. 9 is motor electrical angle numeric waveform figure;
Three-phase current oscillogram when Figure 10 is motor operation.
Embodiment
Below in conjunction with drawings and Examples, the utility model is described in further detail.
As shown in Figure 1, this device comprises the host computer 1, Drive Module 2, the first scrambler photoelectricity adapter circuit 3, optical fiber 5, the second scrambler photoelectricity adapter circuit 4, scrambler 7 and the motor 8 that are linked in sequence; Drive Module 2 is for receiving the order control motor 8 of host computer 1 and rotate and the feedback signal of received code device 7 feeding back to host computer 1.
As shown in Figure 2, scrambler photoelectricity adapter circuit comprises 485 chips, differential driver, differential receiver and optical fiber driver module.Scrambler opto-electronic conversion adapter circuit in the utility model, adopt the differential electric signal of special 485 chip transmitting-receiving scramblers, differential driver will feed optical fiber driver module after original signal filtering, integer, level conversion, optical fiber driver module drives photoelectricity laser tube launching fiber signal, and its frequency is f
1.Be f when corresponding with it optical fiber driver module receives frequency
2(f
1≠ f
2) light signal time, in this optical fiber driver module, produce signal SD, utilizing signal SD to realize forbids controlling to the transmission of 485 chips, can avoid the certainly receipts spontaneous phenomenon of signal in transmitting procedure, meanwhile, the signal receiving from optical fiber, after differential receiver is processed conversion, sends to scrambler by 485 chips, complete communication process, so just make single fiber bi-directional communication can be applied among composite coding device position detecting device.
As shown in Figure 3, scrambler opto-electronic conversion adapter circuit is by the differential linearity driver U1 of optical fiber driver module U2, model AM26LS31, the differential linearity receiver U4 that model is AM26LS32, the comparer (U5A, U5B) that model is LM393, the 485 communication dedicated chip U3 of MAX485, and the adapter circuit of resistance, electric capacity and voltage stabilizing diode composition.
Wherein, optical fiber driver module inside is provided with light emitting diode and driving circuit, photodiode and lens, and can directly connect optical fiber, and light signal is converted to the output terminal output of electric signal (PECL level) from optical fiber driver module.
As shown in Figure 5, in the utility model, adopt wavelength-division multiplex formula uni-core bidirectional technology, in uni-core bidirectional transmission system, the rightabout light signal of while transmitting two paths in same optical fiber, the light wave sub-module of optical fiber driver module inside adopts respectively and comes and goes wavelength is the device of 1310nm and 1550nm.The beam splitting lens circuit of optical fiber driver module inside, two light carriers that come and go are synthesized and the processing separating, realize the transmitted in both directions of light signal with this, in module one, transmitted signal is that wavelength is the light of 1310nm, receiving signal is that wavelength is the light of 1550nm, in module two, transmitted signal is that wavelength is the light of 1550nm, and receiving signal is that wavelength is the light of 1310nm.Its advantage is that bandwidth of an optical fiber characteristic is fully applied, and has improved fiber utilization.
In the utility model, use the optical fiber driver module model that comprises beam splitting lens circuit to be respectively TTR-B1303-20 and FTTR-B15303-20, in the first scrambler photoelectricity adapter circuit 3 being connected with Drive Module 2, adopt TTR-B1303-20 (comprising module one), in the second scrambler photoelectricity adapter circuit 4 being connected with scrambler 7, adopt FTTR-B15303-20 (comprising module two).
As shown in Figure 3, the transmitted signal end of optical fiber driver module U2 successively corresponding TD+ is connected with 1Z with the output terminal 1Y of differential linearity driver U1 with TD-, the input end 1A of differential lines driver U1 is connected with the receiver output terminal RO of 485 communication chip U3, the reception signal end of optical fiber driver module U2 successively corresponding RD+ is connected with 1B with the input end 1A of receiver of differential line U4 with RD-, the output terminal 1Y of receiver of differential line U4 is connected with the driver input end DI of 485 communication chip U3, the A of 485 communication chips, B termination enters the command word signal of NRZ signal or Drive Module, the input end 3 of comparer U5A is connected with the input end SD of optical fiber driver module U2, input end 2 and the divider resistance R15 of comparer U5A, R16 is connected, the output terminal 7 of comparer U5A is connected with the receiver Enable Pin RE of the input end 5 of comparer U5B and 485 communication chips, input end 6 and the divider resistance R17 of comparer U5B, R18 is connected, the output terminal 7 of comparer U5B is connected with the driver Enable Pin DE of 485 communication chips.Because LM393 is the output of OC door, for guaranteeing normally to export high level, output terminal 1 and 7 places of comparer add draws resistance R 14 and R22.Passive group of content network circuit object of C3, C5, C7, C9, C10, C11, R2, R3, R4, R5, R9, R11, R13, R19, R20 and R21 composition in circuit is that signal is become to the PECL level signal that optic module can receive and send.In circuit, C4, C6, C8 and C12 are decoupling capacitor.In circuit, D2 and D3 are voltage stabilizing diode, and effect is protection 485 telecommunication circuits, and resistance R 7 is impedance matching resistance.
The course of work of the present utility model is: first send command word by motor driver to scrambler, signal sends to scrambler 7 by scrambler optoelectronic transceiver module 7 and optical fiber 5, scrambler 7 according to receive command word send corresponding shaft position and multi-turn data-signal, this signal, by optical fiber and scrambler optoelectronic transceiver module, returns to Drive Module.
By Drive Module application of formula 1, can calculate rotor mechanical angle θ
m.
Wherein: Q
countfor scrambler returns to counting, Q
biasfor side-play amount is installed, n is scrambler figure place
By Drive Module application of formula 2, carry out M method and calculate motor speed S again
m, and then motor is carried out to rotation speed servo control.
Wherein: F
sfor speed sampling frequency.
As shown in Figure 4, in the utility model, adopt hybrid multi-turn absolute optical encoder, regarded as the combination of a single-ring absolute type photoelectric encoder and an increment type magnetic encoder.Wherein photoelectric encoder is singly turning interior high resolving power, the high-precision absolute position detection of realizing, and output signal is NRZ form signal.And magnetic encoder is used for detecting multi-turn revolution.This scrambler adopts large scale integrated circuit and dedicated cpu by multi-turn data, individual pen data and status information combination, and together usage data line spreads out of.Scrambler is external+3.6V standby power supply, in the time that system is in operation unexpected power down, can realize the preservation to shaft position and multi-turn revolution.Have the resolution in individual pen with 17, accessible minimum calibration is 0.0027 angle.Multi-turn counter capacity is 16, and count enable 65535 is enclosed at most, can meet the requirement of most servo industrial control systems.In addition he also has state-detection and fault alarm function.Encoder serial baud rate reaches as high as 5Mbps, can in tens microseconds, complete a communication, can meet the requirement of electric servo-driver.
A rotor absolute position detection method of applying single fiber bidirectional technique, comprises the following steps:
A, by motor driver 1 to scrambler send command word, command word format frame is as shown in Figure 6.Need multi-turn information if not each cycle in actual use, driver 1 can change command word, and scrambler 7 can returning part frame data, need multi-turn information in this example.
B, the signal that comprises command word information are sent to differential driver after changing and process through 485 chips, and signal enters in optical fiber 5 by optical fiber driver module.In module one, transmitted signal wavelength is 1310nm, and reception signal wavelength is 1550nm, and signal is sent in optical fiber driver module, and the send and receive signal wavelength in module two is contrary with module one.By beam splitting lens circuit, two light carriers that come and go are synthesized and the processing separating.The signal that optical fiber driver module receives feeds 485 chips after the filtering of differential receiver, integer, level conversion, and this signal is sent to scrambler 7.
C, scrambler 7 receive command word, send the NRZ signal of the information that comprises motor shaft position and multi-turn data to 485 chips.
D, signal are after 485 chip conversions and processing, be sent to differential driver, signal enters in optical fiber by optical fiber driver module, the signal of reception is sent to differential receiver by optical fiber driver module, signal after filtering, feed 485 chips after integer, level conversion, is sent to motor driver module 2.
Workflow of the present utility model is as shown in Figure 7: in the time not having signal to send in circuit or receive, the SD pin of optic module is in the recessive current potential of 2.5V.Reverse input end 2 partial pressure value of comparer U5A are 3.4V, are greater than 2.5V, the 1 pin output low level of U5A.Output pin 7 output low levels of connected U5B, now 485 chip RE pin low levels, in receiving enabled state, can receive the electric signal in 485 buses.
In the time that driver need to obtain motor rotor position, by drive communication unit to 485 bus transmitted signals.A, the B pin of 485 chips in the optical fiber being attached thereto and transceiver module 7 receive after serial signal, be Transistor-Transistor Logic level by signal shaping conditioning, be given to differential lines driver U1 through the RO of 485 chips pin, by output pin 1Y and the 1Z of U1, differential signal is provided again, after the passive resistance-capacitance network in circuit, signal becomes the receivable PECL level signal of optical fiber driver module.Optical fiber driver module drives inner laser LED, produces light signal, merges and sends into Optical Fiber Transmission by optical fiber head through interior lens.
In the time that light signal arrives the optical fiber driver module in another optical fiber adapter circuit being connected with scrambler, through inner beam splitting lens, signal is delivered to inner photosensitive LED place, produce corresponding electric signal.Special amplifier and dedicated logic circuit on optical fiber driver module, amplify signal and produce input (SD) signal, by pin RD+, RD-and SD output by optic module with PECL level form.After the passive resistance-capacitance network in circuit, signal enters receiver of differential line U4, then by 1Y pin, signal is outputed to the DI pin of 485 chips.
Meanwhile, the positive input score value saltus step of the comparer U5A being connected with optic module SD pin is 4V, is greater than the 3.4V of reverse input end, output pin 1 is exported high level, the output pin 7 of connected U5B is exported high level, and now 485 chip DE pin are high level, in sending enabled state.485 chip drives A, B pin, output is inputted corresponding differential signal to scrambler with DI pin.
Scrambler receives the command word of sending from driver, according to command word, corresponding register value (angle, the number of turns etc.) and the packing of scrambler duty are sent it back to 485 buses by the CPU in scrambler, electric light conversion afterwards with photoelectric conversion process to above-mentioned similar, driver is received the position signalling that scrambler sends, and completes servo function.
As shown in Figure 8, monitor by the oscillograph being connected with first, second scrambler photoelectricity adapter circuit 4, the frequency that driver 1 sends is that the signal of 2.5MHZ is after 10m Optical Fiber Transmission, be reduced to the actual measurement communication waveforms of electric signal through opto-electronic conversion, from figure, learn, the system state that works long hours is good, does not have error condition to occur.As shown in figure 10, the motor angle numeric waveform recording as shown in Figure 9 for the motor three-phase current waveform that this pick-up unit records.
Claims (4)
1. the motor absolute position detecting device based on uni-core bidirectional technology, is characterized in that: comprise host computer (1), Drive Module (2), optical fiber and the transceiver module (6), scrambler (7) and the motor (8) that are linked in sequence; Described optical fiber comprises with transceiver module (6) two the scrambler photoelectricity adapter circuits (3,4) that are connected by optical fiber (5), and the first scrambler photoelectricity adapter circuit (3) is connected with Drive Module (2), scrambler (7) respectively with the second scrambler photoelectricity adapter circuit (4).
2. the motor absolute position detecting device based on uni-core bidirectional technology according to claim 1, it is characterized in that: described scrambler photoelectricity adapter circuit (3,4) adopts optical fiber driver module (U2), differential driver (U1), differential receiver (U4) and serial communication chip (U3), the fiber port of optical fiber driver module (U2) connects optical fiber (5), transmitted signal end (TD+, TD-) with the output terminal (1Y of differential driver (U1), 1Z) connect, the input end (1A) of differential driver (U1) is connected with the receiver output terminal (RO) of serial communication chip (U3), reception signal end (the RD+ of optical fiber driver module (U2), RD-) with the input end (1A of differential receiver (U4), 1B) be connected, the output terminal (1Y) of differential receiver (U4) is connected with the driver input end (DI) of serial communication chip (U3), the A of serial communication chip (U3), B output terminal is connected with input end or the scrambler (7) of Drive Module (2) by bus.
3. the motor absolute position detecting device based on uni-core bidirectional technology according to claim 1, it is characterized in that: described scrambler photoelectricity adapter circuit (3,4) also comprises comparer (U5A, U5B), the positive input of first operational amplifier (U5A) of described comparer is connected with the input end (SD) of optical fiber driver module (U2), and reverse input end connects VDD-to-VSS by divider resistance R15, resistance R 16 respectively; The first operational amplifier (U5A) output terminal is connected with the input end of second operational amplifier (U5B) of comparer, the receiver Enable Pin (RE) of serial communication chip (U3), the reverse input end of the second operational amplifier (U5B) connects VDD-to-VSS by divider resistance R17, resistance R 18 respectively, and output terminal is connected with the driver Enable Pin (DE) of serial communication chip (U3); The output terminal of described the first operational amplifier (U5A) and the second operational amplifier (U5B) is connected with power supply by pull-up resistor R17, pull-up resistor R22 respectively.
4. the motor absolute position detecting device based on uni-core bidirectional technology according to claim 2, is characterized in that: between the transmitted signal end (TD+, TD-) of described optical fiber driver module (U2) and the output terminal (1Y, 1Z) of differential driver U1 and between reception signal end (RD+, RD-) and the input end (1A, 1B) of differential receiver (U4), be connected with electric capacity, be also connected power supply, passed through resistance eutral grounding by pull-up resistor; The input end (SD) of described optical fiber driver module (U2) is also connected power supply, is passed through resistance R 13 ground connection by pull-up resistor R21.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320874688.7U CN203732079U (en) | 2013-12-27 | 2013-12-27 | Motor absolute-position detecting device based on single-core bidirectional technology |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320874688.7U CN203732079U (en) | 2013-12-27 | 2013-12-27 | Motor absolute-position detecting device based on single-core bidirectional technology |
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| Publication Number | Publication Date |
|---|---|
| CN203732079U true CN203732079U (en) | 2014-07-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320874688.7U Withdrawn - After Issue CN203732079U (en) | 2013-12-27 | 2013-12-27 | Motor absolute-position detecting device based on single-core bidirectional technology |
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|---|---|
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103759747A (en) * | 2013-12-27 | 2014-04-30 | 中国科学院沈阳自动化研究所 | Motor absolute position detection device and method based on single-core two-way technology |
-
2013
- 2013-12-27 CN CN201320874688.7U patent/CN203732079U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103759747A (en) * | 2013-12-27 | 2014-04-30 | 中国科学院沈阳自动化研究所 | Motor absolute position detection device and method based on single-core two-way technology |
| CN103759747B (en) * | 2013-12-27 | 2016-06-15 | 中国科学院沈阳自动化研究所 | Motor absolute position detection device and method based on uni-core bidirectional technology |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20140723 Effective date of abandoning: 20160615 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20140723 Effective date of abandoning: 20160615 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |