CN206975153U - A kind of encoder fault detects circuit - Google Patents
A kind of encoder fault detects circuit Download PDFInfo
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- CN206975153U CN206975153U CN201721607032.3U CN201721607032U CN206975153U CN 206975153 U CN206975153 U CN 206975153U CN 201721607032 U CN201721607032 U CN 201721607032U CN 206975153 U CN206975153 U CN 206975153U
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Abstract
A kind of encoder fault detects circuit, including optocoupler detection circuit, information "Σ" logic circuit, filtering anti-jamming circuit and the DSP level sensitive circuits sequentially connected, the optocoupler detection circuit input end connection encoder, the DSP level sensitive circuits output end connects motor control loop, the optocoupler detection circuit includes optocoupler part, the optocoupler part primary side is connected to current-limiting resistance, the colelctor electrode of its secondary connects 5V power supplys, emitter stage connects output resistance first end and filter capacitor first end, and the end of output resistance second and filter capacitor second terminate GND；Described information "Σ" logic circuit includes and gate circuit, described to include several inputs with gate circuit, should be exported with gate output via filter circuit.Its advantage is simple in construction, can be detected in encoder broken string or quickly, reliably during failure, and it is excessive and damage motor, driver and equipment to prevent that high vibration, electric current from occurring in motor operation.
Description
[technical field]
It the utility model is related to servo system control circuit, more particularly to a kind of encoder fault detection circuit.
[background technology]
Servo-drive system typically can be that motor installs rotary encoder, and the rotation position of motor and velocity information are changed into electricity
Signal, servo-driver can be carried out after receiving the motor position and rate signal for being transmitted through coming in electrical signal form to motor
Highly efficient, accurate and reliable control.Photoelectric encoder is mainly made up of grating disc and photoelectric detection system, in servo-drive system
In, grating disc coaxially causes the rotation of motor to drive the rotation of grating disc with motor, if then being exported through photoelectric detection system
Dry pulse signal, the rotating speed of current motor can be calculated according to the pulses per second of the signal.The code-disc of photoelectric encoder
Two phase differences of output differ 90 degree of quadrature square wave pulse signal, commonly referred to as A and B, according to quadrature square wave level state
The direction of rotation of motor can be judged by changing.General encoder is in addition to A/B signals, it is also possible to has Z signals and U/V/W
Signal, wherein Z signals can be used for small change position and A/B pulses are corrected, if A/B signals are because interference causes pulsimeter
Existing mistake is counted, can be corrected by Z signals；The electrical angle of 360 degree of motor can be then divided into 6 quadrants by U/V/W signals,
For motor when bringing into operation, the state by detecting U/V/W determines which quadrant motor is in, to prevent motor from inverting,
And obtain larger detent torque.
Servo-drive system configuration codes device brings control to be obviously improved while also brings along some risks, such as encoder breaks
Line, encoder fault and encoder interference etc..Broken string does not access encoder probably due at the very start, or in running
In, whole encoder line drops, individual signal lines disconnect；Failure may be because power issue, external electric signal introducing, signal wire
Between short circuit etc.；If servo-drive system breaks or done when encoder breaks down also by normal dependence encoder in encoder
Feedback is controlled to motor, it may appear that motor acutely shakes, electric current is very big, motor turns motionless, reversion, even driving etc.
Problem, so needing that encoder broken string and failure is identified, when recognizing encoder broken string and failure, just it not run
It is or at once out of service.
Traditional encoder broken string and fault detect are detected by software, and software detection mode has many distracters, than
Such as say that encoder electromagnetic interference in itself, motor itself operation conditions (such as stall) etc. can cause sentencing for mistake occur
It is disconnected, easily occur failing to report and misrepresenting deliberately, influence report encoder fault of motor normal operation or mistake etc., also influence to apply personnel
To the investigation of problem.Such as software detection encoder fault is used, when may cause interference with very serious, encoder event can be reported by mistake
Barrier, but actual coding device is had no problem in itself, is whole system interference problem, and the letter of mistake is provided when can be investigated to site problems
Breath.
The content of the invention
In view of the shortcomings of the prior art, the purpose of this utility model is to provide a kind of encoder fault detection circuit.Purport
Code device signal broken string and failure are being detected by hardware circuit, simply judged with reference to software, independent of motor
Actual operating state, it is also interference-free to influence, and encoder various faults state can be identified, can be quick, effective and reliable
Detect encoder fault.
Technical scheme is used by the utility model solves its technical problem：A kind of encoder fault detection electricity is provided
Road, it is characterised in that：Including optocoupler detection circuit, information "Σ" logic circuit, filtering anti-jamming circuit and the DSP level sequentially connected
Circuit, the optocoupler detection circuit input end connection encoder are detected, the DSP level sensitive circuits output end connects motor control
Loop processed.
The optocoupler detection circuit includes optocoupler part, and two inputs of the optocoupler part primary side are connected to current limliting electricity respectively
Resistance, the transistor collector of its secondary connects 5V power supplys, and the transistor emitter connects output resistance first end and filter capacitor the
One end, the end of output resistance second and filter capacitor second terminate GND.
Described information "Σ" logic circuit includes and gate circuit, it is described include with gate circuit it is some with optocoupler number of packages amount identical
Individual input, the filter circuit that should be formed with gate output via resistance and electric capacity export.
The encoder of servo-drive system typically has three tunnels, and the utility model can have three road optocoupler part detection circuits right respectively
Detected per signal all the way, it is described to there is output end of three inputs respectively with three road optocoupler part detection circuits to connect with gate circuit
Connect.
Can include two two inputs with the gate circuit and gate circuit, first with gate output connect second with
One input of gate circuit, first collectively constitutes one with two inputs of gate circuit and second with one input of gate circuit
Individual three inputs and gate circuit.
The beneficial effect of utility model is：It is simple in construction, can quickly, reliably it be detected in encoder broken string or failure
Out, driving can be out of service in time, prevent motor operation occur high vibration, electric current it is excessive and damage motor, driver with
And equipment, also ensure operating personnel's safety.
Brief description of the drawings
The utility model will be further described below in conjunction with the accompanying drawings.
Fig. 1 is the theory diagram of this practical encoder fault detection circuit.
Fig. 2 is the optocoupler part detection circuit diagram of circuit 3 of this practical encoder fault detection circuit.
Fig. 3 is the circuit diagram of information "Σ" logic circuit 4 of this practical encoder fault detection circuit.
Fig. 4 is that have three road optocoupler part detection circuits 3 and the corresponding electricity of information "Σ" logic circuit 4 in the utility model embodiment
Lu Tu.
Embodiment
Referring to accompanying drawing, a kind of encoder fault detection circuit of the utility model, it is characterised in that：Including the light sequentially connected
Coupling part detection circuit 3, information "Σ" logic circuit 4, filtering anti-jamming circuit 5 and DSP level detections 6, the optocoupler part detect circuit 3
Input connects encoder 2, and the output end of DSP level detections 6 connects motor control loop 7, and the optocoupler part detects circuit 3
Including optocoupler part U3, two inputs of the optocoupler part U3 primary sides are connected to current-limiting resistance R31 and R32 respectively, and the three of its secondary
Pole pipe colelctor electrode connects 5V power supplys, and the transistor emitter meets output resistance R37 first ends and filter capacitor C28 first ends, institute
State the ends of output resistance R37 second and filter capacitor C28 second terminates GND；Described information "Σ" logic circuit 4 includes and gate circuit I
C, it is described include with gate circuit I C with optocoupler part U3 quantity several inputs of identical 1se, 2se ..., nse, should and door
The filter circuit that circuit I C output ends Y forms via resistance R40 and electric capacity C10 exports.
It is the embodiment circuit diagram that the utility model has three tunnels detection way referring to Fig. 4.The encoder of servo-drive system
Three tunnels are shared, the utility model there are three road optocoupler part detection circuits 3 respectively to being detected per signal all the way, described and gate circuit
I C have output end of three inputs respectively with three road optocoupler part detection circuits 3 to be connected.
Include two two inputs with the gate circuit I C and gate circuit, first with gate output connect second with
One input of gate circuit, first collectively constitutes one with two inputs of gate circuit and second with one input of gate circuit
Individual three inputs and gate circuit.
It is the embodiment circuit diagram that the utility model has three tunnels detection way referring to Fig. 4.The encoder of servo-drive system
Three tunnels are shared, are all a pair of difference, square-wave signal per road signal.The utility model per signal all the way respectively to passing through an optocoupler
Part is detected.Differential signal A+/A- is coupled with optocoupler part U3 primary sides both ends, each string one of two pins of optocoupler part U3 primary sides
Resistance, the electric current of optocoupler part primary side diode is flowed through with limitation.It is constantly present more than 2V's when encoder is normal, between A+ and A-
Pressure difference, possible A+>A-, it is also possible to A+<A-, due to using two-way optocoupler part, no matter which kind of situation above, optocoupler part primary side
There is diode to flow through electric current, optocoupler part secondary can turn on.When encoder broken string or failure, between A+ and A- just no longer
More than 2V pressure difference be present, optocoupler part primary side both ends suspend or pressure difference is zero, and optocoupler part secondary triode will turn off.This is
The detection circuit of code device signal all the way, the detection circuit structure on other roads are consistent with this.
When encoder is normal, the conducting of optocoupler part, emitter stage output high level, encoder broken string or during failure, optocoupler part
Shut-off, emitter stage output low level.
For fault-signal "Σ" logic circuit mainly by being formed with gate circuit, gate circuit fan-in amount depends on the road to be detected
Number.There is detection to export per road encoder, in order to reduce DSP/MCU pin expense, it is necessary to which multichannel fault message is converged.This reality
With new by the way that these signals are uniformly processed with gate circuit, if code device signal is normal, then all sense channels all export
High level, signal logic with exporting high level afterwards；As long as one of passage occurs breaking or failure, low level is exported,
Logical AND circuit will export low level, and DSP/MCU can judge that encoder breaks down or broken according to this low level, horse
On alarmed, make stop or forbid operation relevant treatment.
By having a RC filter circuit before being sent to DSP/MCU with the signal that gate circuit is handled, interference rejection ability can be strengthened.
Claims (6)
1. a kind of encoder fault detects circuit, it is characterised in that：Optocoupler including sequentially connecting detects circuit, information collects electricity
Road, filtering anti-jamming circuit and DSP level sensitive circuits, the optocoupler detection circuit input end connection encoder, the DSP electricity
Flat detection circuit output end connection motor control loop.
A kind of 2. encoder fault detection circuit according to claim 1, it is characterised in that：The optocoupler detects circuit bag
Optocoupler part is included, two inputs of the optocoupler part primary side are connected to current-limiting resistance respectively, and the transistor collector of its secondary meets 5V
Power supply, the transistor emitter connect output resistance first end and filter capacitor first end, the end of output resistance second and
Filter capacitor second terminates GND.
A kind of 3. encoder fault detection circuit according to claim 1, it is characterised in that：Described information "Σ" logic circuit bag
Include and gate circuit, it is described include with gate circuit with several inputs of optocoupler number of packages amount identical, should and gate output
The filter circuit formed via resistance and electric capacity exports.
A kind of 4. encoder fault detection circuit according to claim 1, it is characterised in that：Described information "Σ" logic circuit bag
Include and gate circuit, it is described include with gate circuit with several inputs of optocoupler number of packages amount identical, should and gate output
The filter circuit formed via resistance and electric capacity exports.
A kind of 5. encoder fault detection circuit according to claim 1, it is characterised in that：The optocoupler part detects circuit
Including there is output of three inputs respectively with three road optocoupler part detection circuits described in three road optocoupler part detection circuits with gate circuit
End connection.
A kind of 6. encoder fault detection circuit according to claim 1, it is characterised in that：It is described to include two with gate circuit
Individual two input and gate circuit, first connects the input of second and gate circuit with gate output, and first is electric with door
Two inputs on road and second collectively constitute three inputs and gate circuit with one input of gate circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721607032.3U CN206975153U (en) | 2017-11-27 | 2017-11-27 | A kind of encoder fault detects circuit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721607032.3U CN206975153U (en) | 2017-11-27 | 2017-11-27 | A kind of encoder fault detects circuit |
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| Publication Number | Publication Date |
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| CN206975153U true CN206975153U (en) | 2018-02-06 |
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| CN201721607032.3U Active CN206975153U (en) | 2017-11-27 | 2017-11-27 | A kind of encoder fault detects circuit |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108459234A (en) * | 2018-05-04 | 2018-08-28 | 深圳易能电气技术股份有限公司 | Incremental type encoder offline detection circuit |
| CN110672957A (en) * | 2019-10-14 | 2020-01-10 | 广东博智林机器人有限公司 | Encoder signal fault detection device and method |
| CN112015131A (en) * | 2020-07-14 | 2020-12-01 | 唐山不锈钢有限责任公司 | Automatic positioning control system and control method for steel-making scrap steel platform car |
| CN113027681A (en) * | 2019-12-25 | 2021-06-25 | 新疆金风科技股份有限公司 | Wind generating set operation control method and device and computer equipment |
-
2017
- 2017-11-27 CN CN201721607032.3U patent/CN206975153U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108459234A (en) * | 2018-05-04 | 2018-08-28 | 深圳易能电气技术股份有限公司 | Incremental type encoder offline detection circuit |
| CN110672957A (en) * | 2019-10-14 | 2020-01-10 | 广东博智林机器人有限公司 | Encoder signal fault detection device and method |
| CN113027681A (en) * | 2019-12-25 | 2021-06-25 | 新疆金风科技股份有限公司 | Wind generating set operation control method and device and computer equipment |
| CN113027681B (en) * | 2019-12-25 | 2022-06-28 | 新疆金风科技股份有限公司 | Wind generating set operation control method and device and computer equipment |
| CN112015131A (en) * | 2020-07-14 | 2020-12-01 | 唐山不锈钢有限责任公司 | Automatic positioning control system and control method for steel-making scrap steel platform car |
| CN112015131B (en) * | 2020-07-14 | 2021-12-03 | 唐山不锈钢有限责任公司 | Automatic positioning control system and control method for steel-making scrap steel platform car |
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