CN210401621U - Incremental encoder broken wire detection system - Google Patents
Incremental encoder broken wire detection system Download PDFInfo
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- CN210401621U CN210401621U CN201920805420.5U CN201920805420U CN210401621U CN 210401621 U CN210401621 U CN 210401621U CN 201920805420 U CN201920805420 U CN 201920805420U CN 210401621 U CN210401621 U CN 210401621U
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Abstract
The utility model provides an incremental encoder broken string detecting system belongs to electromechanical detection technical field, is used for solving and detects whether the encoder broken string function ratio is more single at present, and the hardware circuit is complicated, the trouble problem of operation, and this system includes: the device comprises a signal detection unit, a signal sampling unit, an offset processing unit and a signal processing unit; the encoder comprises an incremental TTL encoder or an incremental sine and cosine encoder; and the signal processing unit is used for receiving each phase difference output signal after bias processing, carrying out corresponding three-phase disconnection judgment on the encoder according to the received three-phase difference output signals, and controlling the servo driver to stop running when at least one phase of the encoder is disconnected. The system can detect the disconnection of the incremental TTL encoder and the disconnection of the incremental sine and cosine encoder, and has the advantages of simple circuit design, low cost and simple disconnection operation of the encoder.
Description
Technical Field
The utility model relates to an electromechanical detection technical field especially relates to an incremental encoder broken string detecting system.
Background
The servo driver performs closed-loop control on the permanent magnet synchronous motor and an incremental encoder is often used for angle feedback. For non-high precision angle or position location occasions, incremental TTL encoders are used, such as a hydraulic control system; for high precision angular or position location applications, incremental sine and cosine encoders are used, such as high speed motorized spindle control systems. The incremental TTL encoder outputs orthogonal A-phase TTL signals, B-phase TTL signals and Z-phase pulse signals, and each phase signal consists of two paths of signals, namely A +, A-, B +, B-, Z + and Z-signals; the incremental sine-cosine encoder outputs orthogonal A-phase and B-phase sine signals and R-phase pulse signals, and each phase difference signal consists of two paths of signals, namely A +, A-, B +, B-, R + and R-signals. The phase A and the phase B signals are used for angle calculation, the phase Z or the phase R is used for angle deviation correction or angle zero, and any broken line of the differential signals influences the stability of the system and continues to operate, and even personal safety accidents can happen.
At present, the disconnection detection of an incremental TTL encoder adopts a logic detection circuit to output a detection result to an MCU processor; the detection of the disconnection of the incremental sine and cosine encoder adopts a comparator circuit to output a detection result to an MCU processor, and then complex software operation processing is carried out. Both commonly used encoders of servo drives require line break detection.
The two encoder disconnection detection methods can only respectively detect one encoder, namely an incremental TTL encoder or an incremental sine and cosine encoder.
However, the above 2 encoders are commonly used encoders, and often the same user has both a motor with an incremental TTL encoder and a motor with an incremental sin-cos encoder in field use. Therefore, the current wire breakage detection scheme of the encoder cannot meet the requirements of the motor with the incremental TTL encoder and the motor with the incremental sine and cosine encoder.
Disclosure of Invention
In order to solve the problem, the utility model provides a can detect incremental TTL encoder broken string and can detect incremental sine and cosine encoder broken string's incremental encoder broken string detecting system again.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
an incremental encoder disconnection detection system comprises a signal detection unit, a signal sampling unit, a bias processing unit and a signal processing unit;
the signal detection unit is used for receiving three-phase differential signals of the encoder and outputting differential output signals of each phase to the signal sampling unit; the encoder comprises an incremental TTL encoder or an incremental sine and cosine encoder;
the signal sampling unit is used for receiving the phase difference output signals of the encoder output by the signal detection unit;
the bias processing unit is used for carrying out bias processing on each phase difference output signal acquired by the signal sampling unit;
and the signal processing unit is used for receiving each phase difference output signal after bias processing, carrying out corresponding three-phase disconnection judgment on the encoder according to the received three-phase difference output signals, and controlling the servo driver to stop running when at least one phase of the encoder is disconnected.
Further, the signal detection unit comprises an A-phase signal detection unit, a B-phase signal detection unit and a C-phase signal detection unit;
the A phase signal detection unit is used for receiving the A phase differential signal of the encoder, obtaining an A phase differential output signal through filtering and amplifying, and sending the A phase differential output signal to the signal processing module;
the B phase signal detection unit is used for receiving a B phase difference signal of the encoder, obtaining a B phase difference output signal through filtering amplification and sending the B phase difference output signal to the signal processing module;
the C phase signal detection unit is used for receiving a Z phase difference signal of the incremental TTL encoder or an R phase difference signal of the incremental sine and cosine encoder, obtaining a corresponding Z phase difference output signal or R phase difference output signal through filtering and amplification, and sending the Z phase difference output signal or the R phase difference output signal to the signal processing module.
Further, the phase-a signal detection unit includes a resistor R1, a resistor R2, a resistor R3, a resistor R4, a resistor R5, a resistor R6, a resistor R7, a resistor R8, a capacitor C1, a capacitor C2, a capacitor C3, and a comparator U1A;
one end of the resistor R1 is connected to an a-end of the encoder and one end of the resistor R7, the other end of the resistor R1 is connected to one end of the capacitor C1 and one end of the resistor R3, the other end of the resistor R3 is connected to one end of the resistor R5 and the 2 end of the comparator U1A, the other end of the capacitor C1 is grounded, the other end of the resistor R5 is connected to the 1 end of the comparator U1A and one end of the resistor R8, one end of the resistor R2 is connected to an a + end of the encoder and the other end of the resistor R7, the other end of the resistor R2 is connected to one end of the capacitor C2 and one end of the resistor R4, the other end of the resistor R8269556 and the 3 end of the comparator U1A, the other end of the capacitor C2 is grounded, the other end of the resistor R6 is connected to the bias voltage VREF, the 4 of the comparator U1A is connected to the external power supply voltage, and the other end.
Further, the B-phase signal detection unit includes a resistor R9, a resistor R10, a resistor R11, a resistor R12, a resistor R13, a resistor R14, a resistor R15, a resistor R16, a capacitor C4, a capacitor C5, a capacitor C6, and a comparator U1B;
one end of the resistor R9 is connected to a B-end of the encoder and one end of the resistor R15, the other end of the resistor R9 is connected to one end of the capacitor C1 and one end of the resistor R11, the other end of the resistor R11 is connected to one end of the resistor R13 and the 2 end of the comparator U1A, the other end of the capacitor C1 is grounded, the other end of the resistor R13 is connected to the 1 end of the comparator U1A and one end of the resistor R16, one end of the resistor R10 is connected to the B + end of the encoder and the other end of the resistor R15, the other end of the resistor R10 is connected to one end of the capacitor C2 and one end of the resistor R12, the other end of the resistor R8269556 and the 3 end of the comparator U1A, the other end of the capacitor C2 is grounded, the other end of the resistor R14 is connected to the bias voltage VREF, the 4 of the comparator U1A is connected to the external power supply voltage, and the other end.
Further, the C-phase signal detection unit includes a resistor R17, a resistor R18, a resistor R19, a resistor R20, a resistor R21, a resistor R22, a resistor R23, a resistor R24, a capacitor C7, a capacitor C8, a capacitor C9, and a comparator U1C;
one end of a resistor R17 is connected with a Z-end of an incremental TTL encoder or an R-end of an incremental sine-cosine encoder and one end of a resistor R23, the other end of the resistor R17 is connected with one end of a capacitor C1 and one end of a resistor R19, the other end of the resistor R19 is connected with one end of a resistor R21 and a 2 end of a comparator U1A, the other end of a capacitor C1 is grounded, the other end of a resistor R21 is connected with a 1 end of a comparator U1A and one end of a resistor R24, one end of a resistor R18 is connected with a Z-end of an incremental encoder or an R-end of an incremental sine-cosine encoder and the other end of a resistor R23, the other end of a resistor R18 is connected with one end of a capacitor C2 and one end of a resistor R20, the other end of the resistor R20 is connected with one end of a resistor R22 and a 3 end of a comparator U1A, the other end of a capacitor C2 is grounded, the other end of, the other end of the resistor R24 is connected with one end of the capacitor C3, and the signal processing module.
Further, the signal sampling unit comprises An analog sampling port An, An analog sampling port Bn and An analog sampling port Cn;
the analog sampling port An is used for acquiring differential output signals of the phase A;
the analog sampling port Bn is used for acquiring a differential output signal of the phase B;
and the analog sampling port Cn is used for acquiring the differential output signals of the C phase.
Furthermore, the signal processing unit comprises a signal receiving unit, a signal judging unit, an instruction sending unit and a shutdown control unit;
the signal receiving unit is used for receiving the phase difference output signals of the three phases of the encoder after bias processing;
the signal judgment unit is used for selecting a corresponding broken line judgment algorithm according to the type of the currently connected incremental encoder; if the current encoder is the incremental TTL encoder, calling an incremental TTL encoder disconnection judgment algorithm to judge whether the three phases of the current encoder are disconnected; if the incremental sine and cosine encoder is called, calling an incremental sine and cosine encoder disconnection judgment algorithm to judge whether three phases of the current encoder are disconnected;
the instruction sending unit is used for sending a corresponding line disconnection instruction to the shutdown control unit;
and the shutdown control unit is used for controlling the servo driver to stop running after receiving the phase disconnection command. The utility model discloses have following beneficial effect at least to do:
(1) the system for detecting the wire breakage of the incremental encoder can detect the wire breakage of the incremental TTL encoder and the incremental sine and cosine encoder, and meets the wire breakage detection of the encoder of the motor with the incremental TTL encoder and the incremental sine and cosine encoder.
(2) The signal detection unit and the signal processing module of the system have simple circuits, and the circuit cost is lower under the condition of meeting the requirements of detecting the disconnection of the incremental TTL encoder and the disconnection of the incremental sine and cosine encoder.
(3) The connection of the encoder three-phase signal detection circuit of the signal detection unit of the system and the signal processing module has strong anti-interference capability and accurate encoder disconnection detection result.
(4) The incremental encoder disconnection detection algorithm included in the system judges that the encoder is simple and effective in disconnection, does not need to consider the sequential logic between the A phase and the B phase of the encoder, and can directly judge whether the A phase and the B phase of the encoder are disconnected or not.
Drawings
FIG. 1 is a block diagram of the present incremental encoder disconnection detection system;
FIG. 2 is a schematic circuit diagram of a signal detection unit of the incremental encoder disconnection detection system;
FIG. 3 is a schematic diagram of the disconnection of the A-phase differential P-terminal of the incremental TTL encoder of the system for detecting the disconnection of the incremental encoder;
fig. 4 is a schematic diagram of a phase a differential P-terminal disconnection of an incremental sine and cosine encoder of the system for detecting a disconnection of an incremental encoder.
Detailed Description
The following are specific embodiments of the present invention and the accompanying drawings are used to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.
Examples
The embodiment provides a disconnection detection system for an incremental encoder, which is used for solving the problem that the existing disconnection detection of the encoder with an incremental TTL encoder and an incremental sine and cosine encoder cannot be met at present. As shown in fig. 1 to 4, the present system includes: the device comprises a signal detection unit, a signal sampling unit, an offset processing unit and a signal processing unit; the signal detection unit is used for receiving three-phase differential signals of the encoder and outputting differential output signals of each phase to the signal sampling unit; the encoder comprises an incremental TTL encoder or an incremental sine and cosine encoder; the signal sampling unit is used for receiving the phase difference output signals of the encoder output by the signal detection unit; the bias processing unit is used for carrying out bias processing on each phase difference output signal acquired by the signal sampling unit; and the signal processing unit is used for receiving each phase difference output signal after bias processing, carrying out corresponding three-phase disconnection judgment on the encoder according to the received three-phase difference output signals, and controlling the disconnection of the servo driver when at least one phase of the encoder is disconnected.
Further, the signal detection unit comprises an A-phase signal detection unit, a B-phase signal detection unit and a C-phase signal detection unit;
the input ends of the a-phase signal detection unit, the B-phase signal detection unit and the C-phase signal detection unit are respectively connected with An ABZ of An incremental TTL encoder or An ABR three-phase differential signal of An incremental sine and cosine encoder, and the output ends of the a-phase signal detection unit, the B-phase signal detection unit and the C-phase signal detection unit are respectively connected with the signal processing module.
The A phase signal detection unit is used for receiving the A phase differential signal of the encoder, obtaining an A phase differential output signal through filtering and amplifying, and sending the A phase differential output signal to the signal processing module;
the B phase signal detection unit is used for receiving a B phase difference signal of the encoder, obtaining a B phase difference output signal through filtering amplification and sending the B phase difference output signal to the signal processing module;
the C phase signal detection unit is used for receiving a Z phase difference signal of the incremental TTL encoder or an R phase difference signal of the incremental sine and cosine encoder, obtaining a corresponding Z phase difference output signal or R phase difference output signal through filtering and amplification, and sending the Z phase difference output signal or the R phase difference output signal to the signal processing module.
Further, the phase-a signal detection unit includes a resistor R1, a resistor R2, a resistor R3, a resistor R4, a resistor R5, a resistor R6, a resistor R7, a resistor R8, a capacitor C1, a capacitor C2, a capacitor C3, and a comparator U1A;
one end of the resistor R1 is connected to an a-end of the encoder and one end of the resistor R7, the other end of the resistor R1 is connected to one end of the capacitor C1 and one end of the resistor R3, the other end of the resistor R3 is connected to one end of the resistor R5 and the 2 end of the comparator U1A, the other end of the capacitor C1 is grounded, the other end of the resistor R5 is connected to the 1 end of the comparator U1A and one end of the resistor R8, one end of the resistor R2 is connected to an a + end of the encoder and the other end of the resistor R7, the other end of the resistor R2 is connected to one end of the capacitor C2 and one end of the resistor R4, the other end of the resistor R8269556 and the 3 end of the comparator U1A, the other end of the capacitor C2 is grounded, the other end of the resistor R6 is connected to the bias voltage VREF, the 4 of the comparator U1A is connected to the external power supply voltage, and the other end.
Wherein R7 is a terminal resistor, R1, C1, R2, C2, R8 and C3 are used for filtering, and U1A, R1, R2, R3, R4, R5 and R6 realize the operation and amplification conditioning.
Further, the B-phase signal detection unit includes a resistor R9, a resistor R10, a resistor R11, a resistor R12, a resistor R13, a resistor R14, a resistor R15, a resistor R16, a capacitor C4, a capacitor C5, a capacitor C6, and a comparator U1B;
one end of the resistor R9 is connected to a B-end of the encoder and one end of the resistor R15, the other end of the resistor R9 is connected to one end of the capacitor C1 and one end of the resistor R11, the other end of the resistor R11 is connected to one end of the resistor R13 and the 2 end of the comparator U1A, the other end of the capacitor C1 is grounded, the other end of the resistor R13 is connected to the 1 end of the comparator U1A and one end of the resistor R16, one end of the resistor R10 is connected to the B + end of the encoder and the other end of the resistor R15, the other end of the resistor R10 is connected to one end of the capacitor C2 and one end of the resistor R12, the other end of the resistor R8269556 and the 3 end of the comparator U1A, the other end of the capacitor C2 is grounded, the other end of the resistor R14 is connected to the bias voltage VREF, the 4 of the comparator U1A is connected to the external power supply voltage, and the other end.
Wherein R15 is a terminal resistor, R9, C4, R10, C5, R16 and C6 are used for filtering, and U1B, R9, R10, R11, R12, R13 and R14 realize the operation and amplification conditioning.
Further, the C-phase signal detection unit includes a resistor R17, a resistor R18, a resistor R19, a resistor R20, a resistor R21, a resistor R22, a resistor R23, a resistor R24, a capacitor C7, a capacitor C8, a capacitor C9, and a comparator U1C;
one end of a resistor R17 is connected with a Z-end of an incremental TTL encoder or an R-end of an incremental sine-cosine encoder and one end of a resistor R23, the other end of the resistor R17 is connected with one end of a capacitor C1 and one end of a resistor R19, the other end of the resistor R19 is connected with one end of a resistor R21 and a 2 end of a comparator U1A, the other end of a capacitor C1 is grounded, the other end of a resistor R21 is connected with a 1 end of a comparator U1A and one end of a resistor R24, one end of a resistor R18 is connected with a Z-end of an incremental encoder or an R-end of an incremental sine-cosine encoder and the other end of a resistor R23, the other end of a resistor R18 is connected with one end of a capacitor C2 and one end of a resistor R20, the other end of the resistor R20 is connected with one end of a resistor R22 and a 3 end of a comparator U1A, the other end of a capacitor C2 is grounded, the other end of, the other end of the resistor R24 is connected with one end of the capacitor C3, and the signal processing module.
Wherein R23 is a terminal resistor, R17, C7, R18, C8, R24 and C9 are used for filtering, and U1C, R18, R19, R20, R21, R22 and R23 realize the operation and amplification conditioning.
If the encoder is An incremental TTL encoder, signals A +, A-, B +, B-, Z + and Z-of the incremental TTL encoder are respectively input to ports A +, A-, B +, B-, C + and C-of the phase-A signal detection unit, the phase-B signal detection unit and the phase-C signal detection unit, the phase-A signal detection unit, the phase-B signal detection unit and the phase-C signal detection unit respectively output Aout, Bout and Cout and are respectively connected to analog sampling ports An, Bn and Cn of the DSP;
if the incremental sine and cosine encoder signals, the incremental sine and cosine encoder signals A +, A-, B +, B-, R + and R-are respectively input to the A +, A-, B +, B-, C + and C-ports of the A-phase signal detection unit, the B-phase signal detection unit and the C-phase signal detection unit, and the A-phase signal detection unit, the B-phase signal detection unit and the C-phase signal detection unit respectively output Aout, Bout and Cout and respectively output to the analog sampling ports An, Bn and Cn of the DSP.
In the embodiment, VCC adopts a voltage of 5V, and bias voltage Vref adopts a voltage of 2.5V, so that the voltage ranges of the output signals Aout, Bout, and Cout of the circuits in the a-phase signal detection unit, the B-phase signal detection unit, and the C-phase signal detection unit are all 0V to 5V.
The signal sampling unit comprises An analog sampling port An, An analog sampling port Bn and An analog sampling port Cn;
the analog sampling port An is used for acquiring differential output signals of the phase A;
the analog sampling port Bn is used for acquiring a differential output signal of the phase B;
and the analog sampling port Cn is used for acquiring the differential output signals of the C phase.
The signal processing unit comprises a signal receiving unit, a signal judging unit, an instruction sending unit and a stop control unit;
the signal receiving unit is used for receiving the phase difference output signals of the three phases of the encoder after bias processing;
the signal judgment unit is used for selecting a corresponding broken line judgment algorithm according to the type of the currently connected incremental encoder; if the current encoder is the incremental TTL encoder, calling an incremental TTL encoder disconnection judgment algorithm to judge whether the three phases of the current encoder are disconnected; if the incremental sine and cosine encoder is called, calling an incremental sine and cosine encoder disconnection judgment algorithm to judge whether three phases of the current encoder are disconnected;
the instruction sending unit is used for sending a corresponding line disconnection instruction to the shutdown control unit;
and the shutdown control unit is used for controlling the servo driver to stop running after receiving the phase disconnection command.
The differential output signals obtained by the phase difference signal detection unit according to each phase difference signal obtained by the phase difference signal detection unit A, the phase difference signal detection unit B and the phase difference signal detection unit C are respectively as follows:
UAout ═ R5/(R3+ R1)) (UA + -UA-) + Vref formula 1
UBout ═ (R5/(R3+ R1)) (UB + -UB-) + Vref formula 2
UCout (R5/(R3+ R1)) (UC + -UC-) + Vref formula 3 when VLowLimit is preset to 1V, VLowLimit is set2Is 1V2VLowLimit is a preset low pressure limit.
When UA + is disconnected, UA-is not disconnected
Since termination resistor R7 is present, when the UA + voltage and UA-voltage are equal, UA + is substituted into UA-in equation 1:
UAout＝(R5/(R3+R1))*(UA--UA-)+Vref＝Vref
when UA-is disconnected, UA + is not disconnected
Since the terminating resistor R7 is present, when the voltage UA-and UA + are equal, UA + is substituted into equation 1,
UAout＝(R5/(R3+R1))*(UA+-UA+)+Vref＝Vref
when UA + and UA-are simultaneously broken, UA + is equal to UA-0
UAout＝(R5/(R3+R1))*(0-0)+Vref＝Vref
Other broken wires are treated in the same way
UBout or UCout Vref
A. The outputs of the B and C phase signal detection units are connected with the analog sampling pin of the DSP
UAn equal to UAout equation 4
UCn ═ UCout equation 6
Sampled signal de-biasing processing
UAi UAn-Vref formula 7
UBi UBn-Vref equation 8
UCi UCn-Vref formula 9
Signal squaring
UAisq＝UAi2Equation 10
UBisq＝UBi2Equation 11
UCisq＝UCi2Equation 12
The specific steps of calling the disconnection judgment algorithm of the incremental TTL encoder to judge whether the three phases of the current encoder are disconnected are as follows:
in this embodiment, the input TTL differential signal amplitude of the incremental TTL encoder is 5V, and the operational amplifier amplification Av (R5/(R3+ R1)) is set to 4;
the theoretical output voltage UAout of the signal is-17.5V or 22.5V, which exceeds the output signal voltage of the circuit, and the actual output voltage UAout is 0V or 5V.
The A phase is not broken;
the differential signal input of the incremental TTL encoder is-5V, and the UAout is 0 according to a formula 1 and the A-phase differential output signal output by the A-phase signal detection unit; UAisq ═ (0-Vref) according to formula 4, formula 7, and formula 102＝Vref2；
Differential signal input of the incremental TTL encoder is 5V, and UAout is obtained as VCC according to formula 1 and circuit output capacity; UAisq ═ VCC-Vref according to formula 4, formula 7, and formula 102＝Vref2；
When the UAisq is larger than the VLowLimit2。
A phase UA + disconnection or UA-disconnection;
UAout becomes Vref according to formula 1, UAisq becomes (UAn-Vref) according to formula 4, formula 7, and formula 102＝0，
UAisq less than VLowLimit2As in fig. 3.
The other phase analysis is the same.
Therefore, any value of UAisq, UBisq or UCisq is less than VLowLimit2And the wire is considered to be broken.
The method for judging whether the three phases of the current encoder are broken by calling the disconnection judgment algorithm of the incremental sine and cosine encoder specifically comprises the following steps:
in this embodiment, the amplitude of the input sinusoidal voltage differential signal of the incremental sine-cosine encoder is 0.5V, and the operational amplifier amplification Av (R5/(R3+ R1)) is 4;
the signal output voltage UAout is between 0.5V and 4.5V, which satisfies the circuit output signal voltage range. See.
Wherein VLowLimit is preset to be 1V, then VLowLimit2Is 1V2。
The A phase and the B phase are not broken;
the A phase input signal m & lts (theta), the B phase input signal m & Sin (theta), m is the signal amplitude 0.5, theta is the encoder electrical angle.
According to the formula 1 and the formula 2, the method obtains
UAadc＝UAout＝(R5/(R3+R1))*(UA+-UA-)+Vref＝2*Cos(θ) +Vref
UBadc＝UBout＝(R5/(R3+R1))*(UB+-UB-)+Vref＝2*Sin(θ) +Vref
Obtaining the formula according to the formula 4, the formula 5, the formula 7, the formula 8, the formula 10, the formula 11 and the Pythagorean theorem
UABisq＝UAisq+UBisq＝UAi2+UBi2＝(UAadc-Vref)2+(UBadc-
Vref)2＝(2*Cos(θ))2+(2*Sin(θ))2＝4*(Cos2(θ)+Sin2(θ))＝4
A phase UA + disconnection or UA-disconnection;
when UA + is disconnected, UA-is not disconnected; since termination resistor R7 is present, when the UA + voltage and UA-voltage are equal, UA + is substituted into UA-in equation 1:
UAout＝(R5/(R3+R1))*(UA--UA-)+Vref＝Vref
according to formula 4, formula 5, formula 7, formula 8, formula 10, and formula 11
UABisq＝4*Sin2(theta), theta is (-pi/6 +2 pi xk) <' > E(pi/6 +2 pi k) or (pi 5/6+2 pi k) to (pi 7/6+2 pi k) interval (k is a non-negative integer).
UABisq is less than VLowLimit2As in fig. 4;
theta is in the range of (-pi/6 +2 pi k) - (pi/6 +2 pi k) or (pi 5/6+2 pi k) - (pi 7/6+2 pi k), and the UABisq value is less than VLowLimit2And if so, the A is considered to be broken.
B phase UB + or UB-disconnection, UBout Vref, UABisq 4 Cos2(theta), theta is in the interval (pi x 2/6+2 pi x k) - (pi x 4/6+2 pi x k) or (pi x 8/6+2 pi x k) - (pi x 10/6+2 pi x k),
UABisq is less than VLowLimit2. (k is a non-negative integer).
Theta (pi) 2/6+2 pi k to pi 4/6+2 pi k or (pi 8/6+2 pi k to pi 10/6+2 pi k), and the UABisq value is less than VLowLimit2And B is considered to be broken.
The R phase needs to be judged according to the line number of the sine-cosine encoder, the sine number of the A phase or the B phase exceeds the line number of the encoder, and the UCisq value of the R phase is always smaller than VLowLimit2And if so, the R phase is considered to be broken. When the pulse number of the sine wave of the A phase or the B phase of the incremental sine-cosine encoder exceeds the preset pulse number of the encoder, whether the square value of the signal of the R phase difference output signal of the incremental sine-cosine encoder after preset de-bias processing is smaller than the square value of the preset low-voltage limit value or not is judged, and if yes, the current R phase of the incremental sine-cosine encoder is determined to be disconnected.
By adopting the system for detecting the wire breakage of the incremental encoder, the wire breakage of the incremental TTL encoder can be detected, the wire breakage of the incremental sine and cosine encoder can be detected, and the wire breakage detection of the encoder of the motor with the incremental TTL encoder and the incremental sine and cosine encoder is met. And the judgment of the disconnection of the encoder is simple and effective, and the judgment of whether the A phase and the B phase of the encoder are disconnected or not can be directly carried out without considering the sequential logic between the A phase and the B phase of the encoder.
The connection of the encoder three-phase signal detection circuit of the signal detection unit of the system and the signal processing module has strong anti-interference capability and accurate encoder disconnection detection result.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications, additions and substitutions for the specific embodiments described herein may be made by those skilled in the art without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.
Claims (7)
1. An incremental encoder disconnection detection system is characterized by comprising a signal detection unit, a signal sampling unit, a bias processing unit and a signal processing unit;
the signal detection unit is used for receiving three-phase differential signals of the encoder and outputting differential output signals of each phase to the signal sampling unit; the encoder comprises an incremental TTL encoder or an incremental sine and cosine encoder;
the signal sampling unit is used for receiving the phase difference output signals of the encoder output by the signal detection unit;
the bias processing unit is used for carrying out bias processing on each phase difference output signal acquired by the signal sampling unit;
and the signal processing unit is used for receiving each phase difference output signal after bias processing, carrying out corresponding three-phase disconnection judgment on the encoder according to the received three-phase difference output signals, and controlling the servo driver to stop running when at least one phase of the encoder is disconnected.
2. The system of claim 1, wherein the signal detection unit comprises an a-phase signal detection unit, a B-phase signal detection unit, and a C-phase signal detection unit;
the A phase signal detection unit is used for receiving the A phase differential signal of the encoder, obtaining an A phase differential output signal through filtering and amplifying, and sending the A phase differential output signal to the signal processing module;
the B phase signal detection unit is used for receiving a B phase difference signal of the encoder, obtaining a B phase difference output signal through filtering amplification and sending the B phase difference output signal to the signal processing module;
the C phase signal detection unit is used for receiving a Z phase difference signal of the incremental TTL encoder or an R phase difference signal of the incremental sine and cosine encoder, obtaining a corresponding Z phase difference output signal or R phase difference output signal through filtering and amplification, and sending the Z phase difference output signal or the R phase difference output signal to the signal processing module.
3. The system of claim 2, wherein the phase-a signal detection unit comprises a resistor R1, a resistor R2, a resistor R3, a resistor R4, a resistor R5, a resistor R6, a resistor R7, a resistor R8, a capacitor C1, a capacitor C2, a capacitor C3, and a comparator U1A;
one end of the resistor R1 is connected to an a-end of the encoder and one end of the resistor R7, the other end of the resistor R1 is connected to one end of the capacitor C1 and one end of the resistor R3, the other end of the resistor R3 is connected to one end of the resistor R5 and the 2 end of the comparator U1A, the other end of the capacitor C1 is grounded, the other end of the resistor R5 is connected to the 1 end of the comparator U1A and one end of the resistor R8, one end of the resistor R2 is connected to an a + end of the encoder and the other end of the resistor R7, the other end of the resistor R2 is connected to one end of the capacitor C2 and one end of the resistor R4, the other end of the resistor R8269556 and the 3 end of the comparator U1A, the other end of the capacitor C2 is grounded, the other end of the resistor R6 is connected to the bias voltage VREF, the 4 of the comparator U1A is connected to the external power supply voltage, and the other end.
4. The system of claim 2, wherein the B-phase signal detection unit comprises a resistor R9, a resistor R10, a resistor R11, a resistor R12, a resistor R13, a resistor R14, a resistor R15, a resistor R16, a capacitor C4, a capacitor C5, a capacitor C6, and a comparator U1B;
one end of the resistor R9 is connected to a B-end of the encoder and one end of the resistor R15, the other end of the resistor R9 is connected to one end of the capacitor C1 and one end of the resistor R11, the other end of the resistor R11 is connected to one end of the resistor R13 and the 2 end of the comparator U1A, the other end of the capacitor C1 is grounded, the other end of the resistor R13 is connected to the 1 end of the comparator U1A and one end of the resistor R16, one end of the resistor R10 is connected to the B + end of the encoder and the other end of the resistor R15, the other end of the resistor R10 is connected to one end of the capacitor C2 and one end of the resistor R12, the other end of the resistor R8269556 and the 3 end of the comparator U1A, the other end of the capacitor C2 is grounded, the other end of the resistor R14 is connected to the bias voltage VREF, the 4 of the comparator U1A is connected to the external power supply voltage, and the other end.
5. The system for detecting the disconnection of the incremental encoder according to claim 2, wherein the C-phase signal detection unit comprises a resistor R17, a resistor R18, a resistor R19, a resistor R20, a resistor R21, a resistor R22, a resistor R23, a resistor R24, a capacitor C7, a capacitor C8, a capacitor C9 and a comparator U1C;
one end of a resistor R17 is connected with a Z-end of an incremental TTL encoder or an R-end of an incremental sine-cosine encoder and one end of a resistor R23, the other end of the resistor R17 is connected with one end of a capacitor C1 and one end of a resistor R19, the other end of the resistor R19 is connected with one end of a resistor R21 and a 2 end of a comparator U1A, the other end of a capacitor C1 is grounded, the other end of a resistor R21 is connected with a 1 end of a comparator U1A and one end of a resistor R24, one end of a resistor R18 is connected with a Z-end of an incremental encoder or an R-end of an incremental sine-cosine encoder and the other end of a resistor R23, the other end of a resistor R18 is connected with one end of a capacitor C2 and one end of a resistor R20, the other end of the resistor R20 is connected with one end of a resistor R22 and a 3 end of a comparator U1A, the other end of a capacitor C2 is grounded, the other end of, the other end of the resistor R24 is connected with one end of the capacitor C3, and the signal processing module.
6. The system of claim 2, wherein the signal sampling unit comprises An analog sampling port An, An analog sampling port Bn and An analog sampling port Cn;
the analog sampling port An is used for acquiring differential output signals of the phase A;
the analog sampling port Bn is used for acquiring a differential output signal of the phase B;
and the analog sampling port Cn is used for acquiring the differential output signals of the C phase.
7. The system for detecting the disconnection of the incremental encoder according to claim 2, wherein the signal processing unit comprises a signal receiving unit, a signal judging unit, a command sending unit and a shutdown control unit;
the signal receiving unit is used for receiving the phase difference output signals of the three phases of the encoder after bias processing;
the signal judgment unit is used for selecting a corresponding broken line judgment algorithm according to the type of the currently connected incremental encoder; if the current encoder is the incremental TTL encoder, calling an incremental TTL encoder disconnection judgment algorithm to judge whether the three phases of the current encoder are disconnected; if the encoder is the incremental sine and cosine encoder, calling an incremental sine and cosine encoder disconnection judgment algorithm to judge whether three phases of the current encoder are disconnected;
the instruction sending unit is used for sending a corresponding line disconnection instruction to the shutdown control unit;
and the shutdown control unit is used for controlling the servo driver to stop running after receiving the phase disconnection command.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920805420.5U CN210401621U (en) | 2019-05-30 | 2019-05-30 | Incremental encoder broken wire detection system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920805420.5U CN210401621U (en) | 2019-05-30 | 2019-05-30 | Incremental encoder broken wire detection system |
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