KR20000074672A - Apparatus for detecting the infomation of rotation embedded the filter of noise reduction - Google Patents

Abstract

PURPOSE: An apparatus for extracting rotation information, which incorporates a noise removing filter is provided to extract rotation information having high reliability for obtaining rotation direction, rotation amount and rotation velocity of a rotator. CONSTITUTION: An apparatus for extracting rotation information, which incorporates a noise removing filter a rotation pulse encoder(10) having first and second slits respectively with a predetermined phase difference in forward and backward rotation directions with relation to a rotation center of the rotator for optically detecting first and second phase rotation pulses generated by intermittent light beams passing through the slits to output after encoding, and a digital filter part(20) for digitally filtering the first and second phase rotation pulses for discriminating rotation signal components having no change during a main clock of a predetermined period is applied, an up and down discriminating part(30) comparing the filtered pulses to output forward or backward rotation pulse, a counter clock generating part(40) for generating a counter clock in synchronizing with at least more than one rising or lowering edge of the filtered pulses, and a rotation information counter(50) for obtaining rotation direction and rotation amount of the rotator by upward or downward counting of the pulse output from the up and down discriminating part.

Description

Apparatus for detecting the infomation of rotation embedded the filter of noise reduction}

The present invention relates to a rotation information extracting device having a built-in noise removing filter. More particularly, the present invention relates to a digital filtering for classifying only signals having no signal change as rotation signal components while a main clock of a predetermined period is applied. The present invention relates to a rotation information extracting device incorporating a noise removing filter which can extract rotation information with high reliability by removing mechanical or electrical noise generated when converting a mechanical rotation amount into a rotation pulse, which is an electrical signal. .

As is well known, electric motors are energy conversion devices that convert electrical energy into mechanical energy based on Fleming's left-hand law, which today has a wide range of applications, producing approximately 5 million units per day worldwide. It is an energy conversion means. When the motor's rotational force is mechanically combined with various mechanical devices such as gears and pulleys, in addition to the rotational force, which is inherent, most three-dimensional movements including up, down, left and right reciprocating motion and vortex motion are possible. When a precise mechanism having a precise control of the rotation direction, rotation amount and rotation speed can be provided, it can provide free movement like human movement.

Accordingly, in order to precisely control the motion of the other rotating body including the motor, it is necessary to accurately extract the rotating information such as the rotating direction, the rotating amount, the rotating speed, and the rotating torque from the rotating body.

Recently developed motors occupy a wide range of applications from ultra low speed to ultra high speed, but the recent trend of technical demand is toward high speed and ultra precision control, so the reliability and precision of rotation information Is a key determinant of motor performance.

There are two ways to extract the rotational information of the motor, one that can be analyzed in terms of the power provided to the motor, and the other converts the motion of the physical rotor into an electrical signal. There may be a method of analysis. Ultimately, since the motor provides physical rotational motion, the latter method can obtain more accurate information, while reducing the reliability of rotational information in the process of converting mechanical rotation into an electrical signal. As mechanical or electrical noise is inserted, it is expected that a technology capable of providing a high degree of reliability and precision with respect to extracted rotational information while effectively removing it is expected.

Accordingly, the present invention has been made to meet such technical requirements, and by performing digital filtering to classify only the signal that does not change the signal as the rotation signal component while the main clock of the predetermined period is applied, Extracting mechanical or electrical noise generated when converting a conventional rotational amount into a rotational pulse, which is an electrical signal, and extracting the rotational direction, rotational amount, and rotational speed from two rotational pulses having a predetermined phase difference. The present invention relates to a rotation information extracting device incorporating a noise removing filter which can extract rotation information with high reliability by providing basic information.

1 is a block diagram showing a preferred embodiment of a rotation information extraction device with a built-in filter for removing noise according to the present invention;

2 is a timing diagram showing an operation timing of a component of a rotation information extracting apparatus incorporating a filter for removing noise according to the present invention;

3 is a block diagram illustrating a digital filter unit of FIG. 2;

4 is a block diagram illustrating an uptown discrimination unit of FIG. 2;

5 is a block diagram illustrating a counter clock generator of FIG. 2.

<Explanation of symbols for the main parts of the drawings>

10: rotary pulse encoder 20: digital filter unit

21: rising edge counter 22: falling edge counter

23: smooth pulse output unit 30: up-down determination unit

31: first state storage unit 32: second state storage unit

33: Up-down result output unit 40: Counter clock generator

41: first rising edge detector 42: first falling edge detector

43: second rising edge detector 44: second falling edge detector

45: clock generator 50: rotation information counter

In order to achieve the above object, a rotation information extracting device incorporating a filter for removing noise according to the present invention includes a first phase rotation pulse and a second phase rotation pulse that provide information on a rotation direction and a rotation speed of a rotating body. The first phase rotation smoothing pulse and the second phase rotation smoothing pulse are performed by performing digital filtering to classify only the signal having no signal change as the rotation signal component while the main clock of the predetermined period is applied from the rotating body. After acquiring, compare and examine the signal states of the two rotational smoothing pulses, and if the signal state of the first phase rotational smoothing pulse is relatively changed first, it is determined as forward rotation. In order to obtain the rotation direction, the rotation amount and the rotation speed of the rotating body by counting the output of the rotation smoothing pulse upward or downward It is characterized by being able to provide one rotation information.

Hereinafter, with reference to the accompanying drawings a preferred embodiment of a rotation information extraction device with a built-in filter for removing noise according to the present invention will be described.

Figure 1 is a block diagram showing a preferred embodiment of a rotation information extraction device with a built-in filter for removing noise according to the present invention.

As shown in FIG. 1, a preferred embodiment of a rotation information extracting device having a built-in noise removing filter according to the present invention has a predetermined phase difference between a forward rotation direction and a reverse rotation direction with respect to a rotation origin of a rotating body, respectively. A first plate generated by intermittent light passing through the first and second slits as the first and second slits having the perforated sensor plate are rotated by being coupled to the rotating shaft of the rotating body. A rotary pulse encoder 10 which optically detects and encodes the phase rotation pulse and the second phase rotation pulse and then outputs them to the outside;

Receives the first phase rotation pulse and the second phase rotation pulse from the rotation pulse encoder 10 and classifies only the signal having no signal change as the rotation signal component while the main clock of the predetermined period is applied. A digital filter unit 20 for outputting a first phase rotation smoothing pulse and a second phase rotation smoothing pulse by performing digital filtering, respectively;

The first phase smoothing pulse and the second phase smoothing pulse are inputted from the digital filter unit 20, and the signals of the first phase smoothing pulse and the second phase smoothing pulse are performed every cycle of the main clock. When the signal state of the first phase rotation smoothing pulse is changed relatively first, the state of the first phase rotation smoothing pulse is determined to be the forward rotation, and the forward rotation status pulse is output. A discriminating unit 30;

The rising edge and falling edge of the first phase rotation smoothing pulse and the rising edge of the second phase rotation smoothing pulse are received from the digital filter unit 30 by receiving the first phase rotation smoothing pulse and the second phase rotation smoothing pulse. A counter clock generator 40 generating a counter clock in synchronization with at least one of the falling edges;

When the forward rotation state pulse is applied to the up-down determination unit 40, the counter clock input from the counter clock generation unit 40 is counted up. When the reverse rotation state pulse is applied, the counter clock is counted down. And a rotation information counter 50 for outputting.

Hereinafter, the operation of the preferred embodiment of the rotation information extraction device incorporating a noise removing filter according to the present invention will be described in detail with reference to the accompanying drawings.

2 is a timing diagram showing the operation timing of the components of the rotation information extracting apparatus incorporating a noise removing filter according to the present invention.

First, the rotary pulse encoder 10 includes a sensor plate in which first and second slits are punctured, respectively, having a predetermined phase difference between the rotational direction of the rotating body and the reverse rotational direction. Optically detects and encodes a first phase rotation pulse and a second phase rotation pulse generated by intermittent light passing through the first and second slits, respectively, as they are coupled to the rotational axis of Output Here, the phase difference between the first slits and the second slits is preferably 90 °.

At this time, it is apparent that depending on the application method, the number of slits providing the rotational resolution in each direction can be increased by a desired number. As such, a technique of optically reading rotation information using the slits to measure the rotation direction, the rotation speed and the rotation amount of the rotating body is a known technique that is typically used in a switched reluctance motor and the like. .

On the other hand, it is well known that the rotary pulse encoder 10 of the present invention may use any known technique capable of providing basic rotation information capable of checking the rotation direction and rotation speed.

Thereafter, when a main clock having a clock frequency of about 20 MHz is applied as shown in FIG. 2A, the digital filter unit 20 is shown in FIGS. 2B and 2C from the rotary pulse encoder 10. As described above, only the signal having no signal change while receiving the first phase rotation pulse and the second phase rotation pulse in which mechanical or electrical noise is inserted is applied to the main clock of a predetermined period, is classified as the rotation signal component. Digital filtering is performed to output the smoothed first phase rotation smoothing pulse and the second phase rotation smoothing pulse as shown in FIGS. 2D and 2E. Here, the predetermined period is preferably two periods.

3 is a block diagram showing a digital filter unit 20 according to the present invention.

The configuration and operation of the digital filter unit 20 of the present invention will be described in more detail with reference to FIG. 3 as follows.

As shown in FIG. 3, the digital filter part 20 of this invention is comprised from the rising edge counter 21, the falling edge counter 22, and the smoothing pulse output part 23. As shown in FIG.

First, the rising edge counter 21 receives the first phase rotation pulse and the second phase rotation pulse provided from the rotation pulse encoder 20, and the first phase rotation pulse and the second phase rotation pulse while the main clock is applied over two periods. When the number of times the phase rotation pulses transition from the low state to the high state is two or more times, a high state output is generated in the next period of the main clock. The determination of the transition process of the rising edge is independently performed over the first phase rotation pulse and the second phase rotation pulse.

In addition, the falling edge counter 22 receives the first phase rotation pulse and the second phase rotation pulse provided from the rotation pulse encoder 20 and the first phase rotation pulse and the second phase rotation pulse while the main clock is applied over two periods. When the number of times the phase rotation pulses transition from the high state to the low state is two or more times, the low state output is generated in the next period of the main clock. The determination of the transition process of the falling edge is independently performed over the first phase rotation pulse and the second phase rotation pulse.

Here, it is preferable that both the rising edge counter 21 and the falling edge counter 22 are 2-bit counters.

Finally, the smoothing pulse output unit 23 generates a high state output when the output of the rising edge counter 21 is high for the first phase rotation pulse and the second phase rotation pulse, respectively; It is determined whether the output of the edge counter 22 is in a low state. If the output is in a low state, the low state output is generated to generate the first phase rotation smoothing pulse and the first phase rotation smoothing pulse from which the digital noise is removed for the first and second phase rotation pulses. Generates a two-phase rotation smoothing pulse.

In other words, when the first phase rotation pulse and the second phase rotation pulse are judged to be noise by the above conditions, the low state or the high state is continuously maintained depending on the signal state.

The basis for performing digital filtering as described above is typically during the time that the main clock of 20 MHz is applied for two periods, i.e. Since a motor that can make one revolution in seconds cannot be developed with today's technology, the transition of rotational pulses occurring during this period is very likely to be electrical or mechanical noise.

On the other hand, the up-down determination unit 30 receives the first phase rotation smoothing pulse and the second phase rotation smoothing pulse from the digital filter unit 20 and the first phase rotation smoothing pulse with each cycle of the main clock. When the signal state of the first phase rotation smoothing pulse is changed relatively first, the signal state of the first phase rotation smoothing pulse is relatively changed. To output the reverse rotation status pulse.

4 is a block diagram showing an uptown discrimination unit 30 according to the present invention.

The configuration and operation of the up-down determination unit 30 of the present invention will be described in more detail with reference to FIG. 4 as follows.

As shown in FIG. 4, the up-down determination part 30 of this invention is comprised by the 1st state memory | storage part 31, the 2nd state memory | storage part 32, and the up-down result output part 33. As shown in FIG.

First, the first state storage unit 31 receives the first phase rotation smoothing pulse and the second phase rotation smoothing pulse from the digital filter unit 20 and delays them while the main clock of one period is inputted. .

Thereafter, the second state storage unit 32 receives the delayed first phase rotation smoothing pulse and the delayed second phase rotation smoothing pulse from the first state storage unit 31 and delays it while the main clock of one cycle is input. Output

Finally, the up-down result output unit 33 receives the outputs of the first state storage unit 31 and the second state storage unit 32 and the first phase rotation smoothing pulse every cycle of the main clock. After checking whether a change in signal level occurs between the delayed first phase rotation smoothing pulse and whether a change in signal level occurs between a second phase rotation smoothing pulse and the delayed second phase rotation smoothing pulse, As shown in f), a change in signal level between the first phase rotational smoothing pulse and the delayed first phase rotational smoothing pulse causes a change in signal level between a second phase rotational smoothing pulse and the delayed second phase rotational smoothing pulse. If it occurs relatively earlier, it is determined as forward rotation and the forward rotation state pulse is output. Otherwise, it is determined as reverse rotation and the reverse rotation state pulse is output. Here, the up-down result output section 33 has a 16-bit memory built-in to cope with any number of possible cases.

The counter clock generator 40 receives the first phase rotation smoothing pulse and the second phase rotation smoothing pulse from the digital filter unit 30, and the rising edge and the falling edge of the first phase rotation smoothing pulse and the first phase. A counter clock is generated in synchronization with at least one of a rising edge and a falling edge of the two-phase rotation smoothing pulse.

5 is a block diagram showing a counter clock generator 40 according to the present invention.

The configuration and operation of the counter clock generator 40 of the present invention will be described in more detail with reference to FIG. 5 as follows.

As shown in FIG. 5, the counter clock generator 40 of the present invention includes a first rising edge detector 41, a first falling edge detector 42, a second rising edge detector 43, and a second falling edge. It consists of the detection part 44 and the clock generation part 45.

First, the first rising edge detector 41 and the first falling edge detector 42 detect the rising edge and the falling edge of the first phase rotation smoothing pulse, respectively, and the second rising edge detector 43 and the fourth falling edge, respectively. The detector 44 detects the rising edge and the falling edge of the second phase rotation smoothing pulse, respectively.

Thereafter, the clock generator 45 supports four timings according to a clock mode applied as a user input.

First, in the first clock mode with a user input of 00, it is used only for the up-down counter and has the ability to generate a counter clock to count only forward or reverse direction signals. It is possible until.

In the two-phase one-multiplied clock mode in which the user input is 01, a counter clock is generated in synchronization with the rising edge of the first phase rotation smoothing pulse so as to count the rising edge of the first phase rotation smoothing pulse.

In the two-phase two-multiplied clock mode with a user input of 10, a counter clock is generated in synchronization with the falling edge of the rising edge of the first phase rotation smoothing pulse so as to count the rising edge and the falling edge of the first phase rotation smoothing pulse. do. 2 (g) shows the counter clock of the clock generator 45 operating in the two-phase two-multiplied clock mode.

In the two-phase four-multiplied clock mode with a user input of 11, the second phase rotation smoothing can be counted on the rising and falling edges of the first phase rotation smoothing pulse and the rising and falling edges of the first phase rotation smoothing pulse. A counter clock is generated in synchronization with the falling edge of the rising edge of the pulse and the rising edge and falling edge of the second phase rotation smoothing pulse.

Finally, the rotation information counter 50 counts up the counter clock input from the counter clock generator 40 when the forward rotation state pulse is applied from the up-down determination unit 40, and the reverse rotation state pulse. When is applied, the counter clock is counted down and outputted to provide rotation information for obtaining the rotation direction, the rotation amount and the rotation speed of the rotating body. The rotation information counter 50 may set a counting start value arbitrarily by the user, and counting is possible from the input value. In the forward direction, the counting value increases and decreases in the reverse direction. The counting result is stored in a 28-bit register and output.

Terminologies used herein are terms defined in consideration of functions in the present invention, which may vary according to the intention or customs of those skilled in the art, and the definitions should be made based on the contents throughout the present application. will be.

Although specific embodiments of the invention have been described and illustrated, it will be apparent that the invention may be embodied in various modifications by those skilled in the art.

In addition, since the present invention has been described through the preferred embodiment of the present invention, in view of the technical difficulty aspects of the present invention, those having ordinary skill in the art can easily be different from another embodiment of the present invention. As modifications may be made, it is obvious that both the embodiments and modifications cited in the above description belong to the appended claims.

As described in detail above, a main clock of a predetermined period is applied by receiving a first phase rotation pulse and a second phase rotation pulse that provide information about the rotation direction and the rotation speed of the rotation body from the rotation body. Digital filtering, which classifies only signals with no signal change as the rotation signal components, respectively, to obtain the first and second phase smoothing pulses, and then compares and inspects the signal states of the two smoothing pulses. According to the present invention, when the signal state of the first phase rotation smoothing pulse is relatively changed first, it is determined as forward rotation. Otherwise, it is determined as reverse rotation, and the rotation smoothing pulse is counted upward or downward according to each rotation direction. It is possible to extract reliable rotation information for obtaining the rotation direction and rotation amount and rotation speed of the rotating body. There is.

Claims (10)

As the sensor plate having the first slits and the second slits punctured in the forward rotation direction and the reverse rotation direction with respect to the rotation origin of the rotation body are respectively coupled to the rotation axis of the rotation body, the sensor plate is rotated. A rotary pulse encoder that optically detects and encodes a first phase rotation pulse and a second phase rotation pulse generated by intermittent light passing through the first slits and the second slits, respectively, and outputs them externally; And Digital filtering which receives only the first phase rotation pulse and the second phase rotation pulse from the rotation pulse encoder and classifies only the signal having no signal change as the rotation signal component while the main clock of the predetermined period is applied. And a digital filter unit for outputting a first phase rotation smoothing pulse and a second phase rotation smoothing pulse by performing the respective operations. The method of claim 1, The first phase rotation smoothing pulse and the second phase rotation smoothing pulse are input from the digital filter unit and the signal states of the first phase rotation smoothing pulse and the second phase rotation smoothing pulse are compared every cycle of the main clock. An up-down discrimination unit for inspecting the signal of the first phase rotation smoothing pulse to be changed relatively first and determining forward rotation and outputting a forward rotation state pulse, and otherwise determining reverse rotation and outputting a reverse rotation state pulse; ; The rising edge and falling edge of the first phase rotation smoothing pulse and the rising edge and falling edge of the second phase rotation smoothing pulse are received from the digital filter unit by receiving the first phase rotation smoothing pulse and the second phase rotation smoothing pulse. A counter clock generator configured to generate a counter clock in synchronization with at least one edge of the counter clock generator; And When the forward rotation state pulse is applied from the up-down determination unit, the counter clock input from the counter clock generator is counted up. When the reverse rotation state pulse is applied, the counter clock is counted down to rotate the rotating body. And a rotation information counter for obtaining a direction and a rotation amount. The method of claim 1, wherein the main clock is Rotation information extraction device with a built-in noise reduction filter, characterized in that 20MHz. The method of claim 1, wherein the digital filter unit, High state output when the number of transitions from the low state to the high state is more than a predetermined number of times while receiving the first phase rotation pulse and the second phase rotation pulse provided from the rotation pulse encoder while the main clock of the predetermined period is applied. A rising edge counter for generating a; The high state when the number of transitions from the high state to the low state while receiving the first phase rotation pulse and the second phase rotation pulse provided from the rotation pulse encoder during the application of the main clock of the predetermined period is equal to or greater than the predetermined number of times. A falling edge counter for generating an output; When the output of the rising edge counter is high for each of the first phase rotation pulse and the second phase rotation pulse, a high state output is generated. Otherwise, it is determined whether the output of the falling edge counter is low. And a digital filter output unit for generating the first phase rotation smoothing pulse and the second phase rotation smoothing pulse by generating a low state output when the state is low. The method of claim 4, wherein the predetermined period, Rotation information extracting device incorporating a noise removing filter comprising two cycles. The method of claim 4, wherein the predetermined number of times, Rotation information extraction device incorporating a noise removing filter, characterized in that twice. The rotation information extracting device with a noise removing filter according to claim 4, wherein the rising edge counter and the falling edge counter are both 2-bit counters. The method of claim 2, wherein the up-down determination unit, A first state storage unit which receives the first phase rotation smoothing pulse and the second phase rotation smoothing pulse from the digital filter unit and delays the main clock for one period while outputting the first phase rotation smoothing pulse; A second state storage unit which receives the delayed first phase rotation smoothing pulse and the delayed second phase rotation smoothing pulse from the first state storage unit and delays and outputs the delayed period while the main clock of one period is inputted; And The output of the first state memory unit and the second state memory unit is input to check whether a change in signal level occurs between the first phase rotation smoothing pulse and the delayed first phase rotation smoothing pulse every cycle of the main clock. After checking whether a change in signal level occurs between a second phase smoothing pulse and the delayed second phase smoothing pulse, the change in signal level between the first phase smoothing pulse and the delayed first phase smoothing pulse is measured. If the two-phase rotation smoothing pulse and the delayed second phase rotation smoothing pulse occurs relatively earlier than the change in the signal level, it is determined as forward rotation and the forward rotation state pulse is output. Otherwise, it is determined as reverse rotation and the reverse rotation state Rotation with a built-in noise reduction filter, characterized by including an up-down result output unit for outputting pulses Information extraction device. The method of claim 2, wherein the counter output generating unit, A first rising edge detector detecting a rising edge of the first phase rotation smoothing pulse; A first falling edge detector detecting a falling edge of the first phase rotation smoothing pulse; A second rising edge detector detecting a rising edge of the second phase rotation smoothing pulse; A second falling edge detector detecting a falling edge of the second phase rotation smoothing pulse; And A counter clock is generated in synchronization with at least one output by receiving the output of the first rising edge detector, the output of the second rising edge detector, the output of the first falling edge detector, and the output of the second falling edge detector; Rotation information extraction device with a built-in noise removing filter, characterized in that the clock generator. The method of claim 9, wherein the clock generator, In the first clock mode in which the user input is 00, the counter clock is generated so that only the forward or reverse direction signals can be counted exclusively. In the two-phase one-multiplied clock mode in which the user input is 01, a counter clock is generated in synchronization with the rising edge of the first phase rotation smoothing pulse to count the rising edge of the first phase rotation smoothing pulse. In the two-phase two-multiplied clock mode with the user input of 10, a counter clock is synchronized with a falling edge of the rising edge of the first phase rotation smoothing pulse so as to count the rising edge and the falling edge of the first phase rotation smoothing pulse. Occurs, In the two-phase four-multiplied clock mode with the user input 11, the second phase rotation is performed so that the rising edge and falling edge of the first phase rotation smoothing pulse and the rising edge and falling edge of the first phase rotation smoothing pulse can be counted. And a counter clock is generated in synchronization with the falling edge of the rising edge of the smoothing pulse and the rising and falling edge of the second phase rotation smoothing pulse.