CN218675812U - Turntable structure with 1Vpp sine-cosine encoder subdivision resolving mechanism - Google Patents
Turntable structure with 1Vpp sine-cosine encoder subdivision resolving mechanism Download PDFInfo
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Abstract
The utility model discloses a revolving stage structure with 1Vpp sine and cosine encoder segmentation resolving mechanism relates to angle measurement technical field, include: the system comprises at least one 1Vpp sine-cosine encoder, a 1Vpp sine-cosine encoder subdivision and calculation mechanism and an upper computer controller, wherein a plurality of 1Vpp sine-cosine encoders are in communication connection with the 1Vpp sine-cosine encoder subdivision and calculation mechanism through a connecting piece, and the output end of the 1Vpp sine-cosine encoder subdivision and calculation mechanism is electrically connected with the upper computer controller; one or more 1Vpp sine-cosine encoders are respectively arranged at one or more positions of the axle end of a transverse rocking axle, the axle end of a longitudinal rocking axle and the axle end of an azimuth axle of the turntable. The utility model has the advantages that: the turntable structure with the 1Vpp sine and cosine encoder subdivision resolving mechanism is provided, noise interference in signals collected by the 1Vpp sine and cosine encoder can be effectively eliminated, and the servo closed-loop control accuracy of the turntable is effectively guaranteed.
Description
Technical Field
The utility model relates to a survey angle technical field, specifically relate to a revolving stage structure with 1Vpp sine and cosine encoder segmentation resolving mechanism.
Background
The encoder is the main feedback component that adopts in the servo control system, and high accuracy servo system more needs to be equipped with high accuracy encoder and does the closed loop feedback. According to the type of the output signal of the encoder, the encoder is generally divided into two forms, namely a digital quantity signal and an analog quantity signal. The digital output is divided into 90 deg. phase difference increment pulse output and absolute output of loading coding protocol. Two kinds of analog quantity output are common, one is a sine and cosine signal with a phase difference of 90 degrees (a 1Vpp sine and cosine encoder is commonly used), and the other is an amplitude modulation sine and cosine signal output by a rotary transformer. At present, the acquisition of high-precision angle position signals of an encoder mostly adopts a mode of combining digital quantity subdivision and analog quantity subdivision. The digital quantity provides rough position information, and sine and cosine analog quantity output extracts higher-precision position information. The sensor for detecting the position of the motor rotor mainly comprises a photoelectric encoder, a rotary transformer and a sine and cosine photoelectric incremental encoder.
The photoelectric encoder directly outputs digital signals, does not need decoding, has large noise tolerance and high detection resolution, is suitable for detecting a motor running at high speed, but is not resistant to impact and high temperature and is easy to be interfered by noise, so the rotary transformer is not suitable for being used in a severe environment. Although the rotary transformer also outputs sine analog signals, the primary side of the rotary transformer can work only by providing high-frequency excitation signals, data can be obtained only by processing through a special RDC decoding circuit and a decoding chip, only a limited sine and cosine period is output in one circle, and the subdivision precision is limited and cannot reach the high precision of a common incremental encoder.
The output signal of the sine and cosine photoelectric incremental encoder is similar to that of a rotary transformer and is also a sine and cosine analog signal, but the processing mode and the working principle of the sine and cosine photoelectric incremental encoder are different from those of a rotary transformer. One revolution of the encoder outputs thousands of periods of sine and cosine signals and a zero signal, the number of the period signals is related to the number of the scribed lines, and the sine and cosine encoder can obtain finer resolution than the pulse by subdivision. Compared with an incremental encoder, the sine and cosine encoder can achieve high precision without making reticle lines very dense, and can obtain finer detection resolution than the original signal period through electronic subdivision of sine and cosine signals. Meanwhile, the sine and cosine encoder has the characteristics of small size, low cost, wide speed measurement range, high-speed and reliable interface and the like, however, in practical use, due to the fact that a large amount of noise interference exists in a working environment, signals directly acquired by the sine and cosine photoelectric incremental encoder often have a great error value with an actual value, servo closed loop control of the rotary table is inaccurate, and the use of the photoelectric tracking rotary table is influenced.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, the technical scheme provides the rotary table structure with the 1Vpp sine and cosine encoder subdivision calculation mechanism, and the technical scheme solves the problem that in actual use, due to the fact that a large amount of noise interference exists in a working environment, the signal directly acquired by the sine and cosine photoelectric incremental encoder often has a great error value with an actual value, so that servo closed-loop control of the rotary table is inaccurate, and the use of the photoelectric tracking rotary table is influenced.
In order to achieve the above purpose, the utility model adopts the technical scheme that:
a revolving stage structure with 1Vpp sine and cosine encoder subdivision resolving mechanism comprises: the device comprises at least one 1Vpp sine-cosine encoder, a 1Vpp sine-cosine encoder subdivision and calculation mechanism and an upper computer controller, wherein a plurality of 1Vpp sine-cosine encoders are in communication connection with the 1Vpp sine-cosine encoder subdivision and calculation mechanism through a connecting piece, and the signal output end of the 1Vpp sine-cosine encoder subdivision and calculation mechanism is electrically connected with the upper computer controller;
and one or more 1Vpp sine-cosine encoders are respectively arranged at one or more positions of the shaft ends of a transverse rocking shaft, a longitudinal rocking shaft and an azimuth shaft of the turntable.
Preferably, a differential amplifier, a signal conditioner, an analog-to-digital converter, a central controller and a global clock generator are integrated in the 1Vpp sine-cosine encoder subdivision resolving mechanism, the output end of the differential amplifier is electrically connected with the signal conditioner, and the signal conditioner, the central controller and the global clock generator are electrically connected with the analog-to-digital converter.
Preferably, the signal output end of the 1Vpp sine and cosine encoder is electrically connected to a differential amplifier, and the differential amplifier is configured to eliminate a dc error signal, common mode noise, and even harmonics from the signal output by the 1Vpp sine and cosine encoder, and transmit the amplified signal to a signal conditioner.
Preferably, the signal output end of the signal conditioner is electrically connected to the analog-to-digital converter, and the signal conditioner is configured to eliminate large jitter and peak interference from the amplified signal transmitted by the differential amplifier, and transmit the conditioned signal to the analog-to-digital converter.
Preferably, the signal output end of the analog-to-digital converter is electrically connected with the central controller, and the analog-to-digital converter is used for converting analog quantity into digital quantity of the conditioning signal transmitted by the signal conditioner and transmitting the digital quantity to the central controller.
Preferably, the output end of the global clock generator is electrically connected to the analog-to-digital converter and the central controller, and the global clock generator is configured to provide a reference clock to the analog-to-digital converter and the central controller.
Preferably, the global clock generator is an active crystal oscillator, and the clock frequency of the global clock generator is 50MHz to 100MHz.
Preferably, the connector comprises a cable, a slip ring and a connector which are mutually matched.
Compared with the prior art, the beneficial effects of the utility model reside in that:
the utility model provides a revolving stage structure with mechanism is solved in 1Vpp sine and cosine encoder subdivision, it has differential amplifier to introduce the integration in revolving stage servo closed-loop control system, the mechanism is solved in 1Vpp sine and cosine encoder subdivision of signal conditioner, when using, the data signal that a plurality of 1Vpp sine and cosine encoders gathered is carried to differential amplifier, direct current error signal is eliminated to differential amplifier, common mode noise and even harmonic wave back, signal transmission to signal conditioner after will amplifying, signal conditioner eliminates after shake and the peak interference by a wide margin in the amplified signal, with signal transmission to analog-to-digital converter, can effectually eliminate the noise interference that exists in the signal that 1Vpp sine and cosine encoder gathered, the precision of the angle value that 1Vpp sine and cosine encoder gathered has been guaranteed, and then the effectual servo closed-loop control degree of accuracy that has guaranteed the revolving stage.
Drawings
FIG. 1 is a block diagram of the present invention;
fig. 2 is a block diagram of a 1Vpp sine and cosine encoder subdivision resolving mechanism of the present invention.
The reference numbers in the figures are:
1. a 1Vpp sine-cosine encoder; 2. 1Vpp sine and cosine encoder subdivision resolving mechanism; 3. an upper computer controller; 4. a connecting member; 5. a differential amplifier; 6. a signal conditioner; 7. an analog-to-digital converter; 8. a central controller; 9. a global clock generator.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments described below are by way of example only, and other obvious variations will occur to those skilled in the art.
Referring to fig. 1-2, a turntable structure with a 1Vpp sine-cosine encoder subdivision solution mechanism is characterized by comprising: the device comprises at least one 1Vpp sine and cosine encoder 1, a 1Vpp sine and cosine encoder subdivision resolving mechanism 2 and an upper computer controller 3, wherein the 1Vpp sine and cosine encoders 1 are in communication connection with the 1Vpp sine and cosine encoder subdivision resolving mechanism 2 through a connecting piece 4, and the signal output end of the 1Vpp sine and cosine encoder subdivision resolving mechanism 2 is electrically connected with the upper computer controller 3;
one or more 1Vpp sine-cosine encoders 1 are respectively arranged at one or more positions of the axle end of a transverse rocking axle, the axle end of a longitudinal rocking axle and the axle end of an azimuth axle of the turntable;
the 1Vpp sine and cosine encoder subdivision resolving mechanism 2 is internally integrated with a differential amplifier 5, a signal conditioner 6, an analog-to-digital converter 7, a central controller 8 and a global clock generator 9, the output end of the differential amplifier 5 is electrically connected with the signal conditioner 6, and the signal conditioner 6, the central controller 8 and the global clock generator 9 are electrically connected with the analog-to-digital converter 7.
The 1Vpp sine and cosine encoder 1 outputs 1Vpp information outwards in an analog quantity voltage mode, each encoder 1 is connected with a 1Vpp sine and cosine encoder subdivision resolving mechanism 2 through a corresponding connecting piece 4, the connecting piece 4 comprises a cable, a slip ring and a connector which are matched with each other, the 1Vpp sine and cosine encoder subdivision resolving mechanism 2 is connected with an upper computer controller 3, and the 1Vpp information is processed by a differential amplifier 5, a signal conditioner 6, an analog-to-digital converter 7 and a central controller 8 to obtain an encoder angle value and then is transmitted to the upper computer controller 3.
The signal output end of the 1Vpp sine-cosine encoder 1 is electrically connected with a differential amplifier 5, the differential amplifier 5 is used for eliminating direct-current error signals, common-mode noise and even harmonics from signals output by the 1Vpp sine-cosine encoder 1 and transmitting the amplified signals to a signal conditioner 6, the signal output end of the signal conditioner 6 is electrically connected with an analog-to-digital converter 7, and the signal conditioner 6 is used for eliminating large-amplitude jitter and peak interference from the amplified signals transmitted by the differential amplifier 5 and transmitting the conditioned signals to the analog-to-digital converter 7;
the 1Vpp information output by the 1Vpp sine-cosine encoder 1 is passed through the differential amplifier 5 and the signal conditioner 6 to eliminate the dc error signal, common mode noise and even harmonic, and to eliminate the large-amplitude jitter and peak interference, so as to effectively eliminate the noise interference signal existing therein.
The signal output end of the analog-to-digital converter 7 is electrically connected with the central controller 8, the analog-to-digital converter 7 is used for converting analog quantity into digital quantity of the conditioning signal transmitted by the signal conditioner 6 and transmitting the digital quantity to the central controller 8, and the analog-to-digital converter 7 converts the analog quantity signal in a voltage form into a digital signal containing encoder angle value data.
The output end of the global clock generator 9 is electrically connected with the analog-to-digital converter 7 and the central controller 8, the global clock generator 9 is used for providing a reference clock for the analog-to-digital converter 7 and the central controller 8, the global clock generator 9 is an active crystal oscillator, the clock frequency of the global clock generator 9 is 50 MHz-100 MHz, and the global clock generator 9 ensures that the analog-to-digital converter 7 and the central controller 8 are under the same reference clock, so that the acquisition accuracy of the encoder angle value is ensured.
The utility model discloses a use does: in the working process of the turntable, a 1Vpp sine-cosine encoder 1 collects rotation data of one or more of a transverse rocking shaft, a longitudinal rocking shaft and an azimuth shaft and outputs 1Vpp information outwards in the form of analog quantity voltage, a differential amplifier 5 eliminates direct current error signals, common mode noise and even harmonics from signals output by the 1Vpp sine-cosine encoder 1 and then transmits amplified signals to a signal conditioner 6, the signal conditioner 6 eliminates large amplitude jitter and peak interference from the amplified signals transmitted by the differential amplifier 5 and then transmits the conditioned signals to an analog-to-digital converter 7, and the analog-to-digital converter 7 converts the analog quantity signals in the form of voltage into digital signals containing encoder angle value data and transmits the digital signals to a central controller 8 to obtain an encoder angle value.
To sum up, the utility model has the advantages that: the rotary table structure with the 1Vpp sine and cosine encoder subdivision resolving mechanism can effectively eliminate noise interference in signals collected by the 1Vpp sine and cosine encoder, ensure the accuracy of angle values collected by the 1Vpp sine and cosine encoder, and further effectively ensure the accuracy of servo closed-loop control of the rotary table.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the principles of the present invention may be applied to any other embodiment without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. A revolving stage structure with 1Vpp sine and cosine encoder subdivision resolving mechanism is characterized by comprising: the device comprises at least one 1Vpp sine-cosine encoder (1), a 1Vpp sine-cosine encoder subdivision and calculation mechanism (2) and an upper computer controller (3), wherein a plurality of 1Vpp sine-cosine encoders (1) are in communication connection with the 1Vpp sine-cosine encoder subdivision and calculation mechanism (2) through a connecting piece (4), and the signal output end of the 1Vpp sine-cosine encoder subdivision and calculation mechanism (2) is electrically connected with the upper computer controller (3);
one or more 1Vpp sine-cosine encoders (1) are respectively arranged at one or more positions of the axle end of a transverse rocking axle, the axle end of a longitudinal rocking axle and the axle end of an azimuth axle of the turntable.
2. The turntable structure with the 1Vpp sine-cosine encoder subdivision solution mechanism according to claim 1, wherein a differential amplifier (5), a signal conditioner (6), an analog-to-digital converter (7), a central controller (8) and a global clock generator (9) are integrated in the 1Vpp sine-cosine encoder subdivision solution mechanism (2), an output end of the differential amplifier (5) is electrically connected with the signal conditioner (6), and the signal conditioner (6), the central controller (8) and the global clock generator (9) are electrically connected with the analog-to-digital converter (7).
3. The rotary table structure with a 1Vpp sine and cosine encoder subdivision solution according to claim 2, wherein the signal output terminal of the 1Vpp sine and cosine encoder (1) is electrically connected to a differential amplifier (5), and the differential amplifier (5) is configured to eliminate dc error signal, common mode noise and even harmonic wave from the signal output by the 1Vpp sine and cosine encoder (1) and transmit the amplified signal to the signal conditioner (6).
4. The turntable structure with 1Vpp sine-cosine encoder subdivision solution according to claim 3, wherein a signal output terminal of the signal conditioner (6) is electrically connected to the analog-to-digital converter (7), and the signal conditioner (6) is configured to eliminate large jitter and peak interference from the amplified signal transmitted by the differential amplifier (5) and transmit the conditioned signal to the analog-to-digital converter (7).
5. The turntable structure with 1Vpp sine-cosine encoder subdivision calculation mechanism according to claim 4, wherein the signal output end of the analog-to-digital converter (7) is electrically connected with the central controller (8), and the analog-to-digital converter (7) is used for converting analog quantity into digital quantity for the conditioning signal transmitted by the signal conditioner (6) and transmitting the digital quantity to the central controller (8).
6. The turret structure with 1Vpp sine-cosine encoder subdivision solution according to claim 5, wherein the output of the global clock generator (9) is electrically connected to the analog-to-digital converter (7) and the central controller (8), and the global clock generator (9) is used to provide a reference clock for the analog-to-digital converter (7) and the central controller (8).
7. The turntable structure with 1Vpp sine-cosine encoder subdivision solution according to claim 6, wherein said global clock generator (9) is an active crystal oscillator, and the clock frequency of said global clock generator (9) is 50 MHz-100 MHz.
8. Turntable structure with 1Vpp sine-cosine encoder subdivision solution according to claim 1, characterized in that said connection elements (4) comprise cables, slip rings and connectors cooperating with each other.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223023672.3U CN218675812U (en) | 2022-11-14 | 2022-11-14 | Turntable structure with 1Vpp sine-cosine encoder subdivision resolving mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202223023672.3U CN218675812U (en) | 2022-11-14 | 2022-11-14 | Turntable structure with 1Vpp sine-cosine encoder subdivision resolving mechanism |
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| Publication Number | Publication Date |
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| CN218675812U true CN218675812U (en) | 2023-03-21 |
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| CN202223023672.3U Active CN218675812U (en) | 2022-11-14 | 2022-11-14 | Turntable structure with 1Vpp sine-cosine encoder subdivision resolving mechanism |
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