WO2008043231A1 - Détecteur rotatif pseudo-aléatoire dégradé - Google Patents

Détecteur rotatif pseudo-aléatoire dégradé Download PDF

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Publication number
WO2008043231A1
WO2008043231A1 PCT/CN2007/001864 CN2007001864W WO2008043231A1 WO 2008043231 A1 WO2008043231 A1 WO 2008043231A1 CN 2007001864 W CN2007001864 W CN 2007001864W WO 2008043231 A1 WO2008043231 A1 WO 2008043231A1
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Prior art keywords
code
pseudo
random
sequence
angular position
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PCT/CN2007/001864
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English (en)
Chinese (zh)
Inventor
Su Li
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Su Li
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Publication of WO2008043231A1 publication Critical patent/WO2008043231A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
    • G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
    • G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
    • G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
    • G01D5/34776—Absolute encoders with analogue or digital scales
    • G01D5/34784—Absolute encoders with analogue or digital scales with only analogue scales or both analogue and incremental scales

Definitions

  • the invention relates to a digital angle measuring photoelectric rotation sensor, also called a photoelectric shaft angle encoder.
  • a photoelectric rotation sensor that applies a degenerate pseudo-random coding technique to perform angular position singularity processing on a code wheel circumference to provide position, direction, and velocity signals.
  • Photoelectric rotation sensor also known as photoelectric shaft angle encoder
  • Photoelectric shaft angle encoder is a digital angle measuring device that integrates light, machine and electricity. Due to its simple structure, high resolution and high precision, it has been widely used in precision angular position measurement, numerical control and digital display systems, and has become an ideal angle sensor.
  • a typical photoelectric shaft encoder consists of a shafting, a grating, a light source, and a photoreceiving element.
  • the main grating rotates with the main shaft, it overlaps with the indicating grating to form a moire fringe, and after photoelectric conversion, the photoelectric displacement signal corresponding to the rotation angle is output, and after electronic processing, and connected with the computer and the display device, the angular position can be realized. Real-time control and measurement.
  • Photoelectric shaft encoders are divided into two types: incremental and absolute.
  • the encoder of the incremental encoder only needs two code channels, one is a circular grating, the scribe line spacing is uniform, corresponding to each resolution interval, an incremental pulse can be output; the other zero-bit raster can output the circumference number and
  • the circle count start point mark signal is characterized by simple structure and small number of code channels, so it can be miniaturized, and the data structure can be arbitrary, but the disadvantage is that there is accumulated error, and all information is lost when a power failure occurs.
  • Absolute encoders generally use a binary code disc.
  • the code disc is encoded by multi-code channels. The code channels are arranged according to a certain regularity.
  • the code is characterized by a fixed zero position, a single value of the angular position, no cumulative error, and strong anti-interference ability, but the disadvantage is that there are many sensitive components, the code wheel is complicated, and the manufacturing cost is large.
  • Any scheme that performs angle coding on a single code channel has no pseudo-random scheme, which is more concise, because a lot of peripheral circuits are added to cooperate, and the number of components increases exponentially with the number of bits. And thus lose the promotion value.
  • the object of the present invention is to provide a novel optoelectronic rotation sensor capable of simultaneously obtaining position, direction and velocity signals by degrading pseudo-random coding of the code wheel circumference to absorb the advantages of the incremental and absolute photoelectric shaft encoders.
  • a degenerate pseudo-random rotation sensor including a code disc, the innovation of which is: two code channels are provided on the code disc, wherein one is a periodic grating on a complete circumference The represented clock track, the other is a pseudo code track represented by a raster on a complete circumference; the pseudo code track is encoded on a complete circumference using a binary degenerate pseudo-random sequence, ie:
  • the angular position code formed by arbitrarily taking the consecutive n-bit binary code is unique, such that the total number of different angular position codes is m.
  • the m different angular position codes exist in an angular relationship with the equal division of m equal parts on the complete circumference.
  • Pseudo-random code is also called pseudo-noise. It has the characteristics of random noise. Its main feature is that the autocorrelation coefficient has the largest origin and drops rapidly from the origin. Due to artificial production, there is a hidden law.
  • a pseudo-random sequence with closed loop characteristics is called a complete pseudo-random code.
  • n is called The number of code bits.
  • a complete pseudo-random sequence with an n-bit code starting with any one of the digits on its closed circle, the code consisting of consecutive n-bit adjacent numbers is unique. Thus the complete pseudo-random code has M different codes.
  • a pseudo-random sequence is a symbol of m ⁇ M-2 n , it is called an incomplete pseudo-random sequence.
  • the process of changing from a complete pseudo-random sequence to an incomplete pseudo-random sequence is called degradation. If a number of sub-segments in the sequence are appropriately rounded off on the basis of a complete binary pseudo-random sequence, and the singularity of the code and the closure of the overall sequence are maintained during such rounding, the new sequence obtained by such processing It is called a degenerate pseudo-random code.
  • the code composed of the retained sequence satisfies the needs of actual work, so it has practical value in engineering technology. For example, if there are 512 codes in the 9-bit complete pseudo-random sequence, it can be degraded to 360 or 400 in the circumferential angle measurement, which makes it easier to establish contact with the degree, minute, second or dense system in the angle measurement. Can be degraded to 500, etc., in conjunction with other integer carry systems.
  • a complete pseudo-random sequence can degenerate to any integer less than M, in general, the amount of degradation control is relatively large within 2 11 -1 , that is, the number of codes after degradation is between. It should also be added here that for a specific completely pseudo-random sequence, it is not always able to degenerate to the required number. Therefore, finding a sequence suitable for the amount of degradation is another key to the compilation of degenerate pseudo-random codes.
  • M 16 data strings consisting of " or "0", as shown in Figure 1.
  • the number of consecutive adjacent 4-bit codes is also 16 One can represent 16 states, as shown in Figure 2, and each code is unique. Now I want to reduce these 16 states to 13 states, that is, the amount of degradation is 3, using the complete binary pseudo-random in Figure 1.
  • the sequence (data string) is not available. However, the data string in Fig. 1 is transformed to obtain a Hamiltonian ring composed of another 4-bit full binary pseudo-random code as shown in Fig.
  • the present invention utilizes some research results of mathematical topological graph theory to degenerate the pseudo-random of the circumference Coding, thereby proposing a scheme for degenerating pseudo-random photoelectric rotating sensors. Due to the binary coding of this variable weight, the maximum savings and the use of space and time domain resources, this solution is applied to the photoelectric shaft angle encoder to simultaneously provide the output of the digital rotation parameters of position, velocity and direction, structurally As with incrementals, it's very compact and maintains data reliability like absolute.
  • Figure 1 is a closed circle of a 4-bit complete binary pseudo-random sequence.
  • Figure 2 is a representation of 16 different code representations of Figure 1 in successive 4 bits, the code representing the Hamiltonian ring in the graph.
  • Figure 3 is a closed ring of another 4-bit full binary pseudo-random sequence.
  • Figure 4 is a diagram showing the 16 different codes shown in Figure 3 by four consecutive digits.
  • a Hamilton ring A Hamilton ring.
  • Figure 5 is a closed circle consisting of a degenerate binary pseudo-random sequence of Figure 3.
  • Figure 6 is a schematic view showing the structure of a optomechanical machine according to an embodiment of the present invention.
  • Figure 7 is a plan view of a code wheel in accordance with an embodiment of the present invention.
  • Figure 8 is a circuit schematic diagram of a first embodiment of the present invention.
  • Embodiment 1 A degenerate pseudo-random rotation sensor is composed of a optomechanical structure and a circuit.
  • the optomechanical structure of the present embodiment is composed of a printed board with a photodetector, a code wheel 2, an indicating grating 3, a condensing mirror 4, a light source 5, a bearing 6, and a main shaft 7.
  • the connection relationship is as follows:
  • the spindle 7 is located on the axis of rotation of the code wheel 2 and is fixedly coupled to the code wheel 2, which is rotatably supported by a bearing 6.
  • the light source 5, the condensing mirror 4, and the indicating grating 3 form a projection optical path on the front side of the code wheel 2 with respect to the code track.
  • the printed board with photodetector 1 is located on the reverse side of the code wheel 2, and its photodetector faces the projection light path.
  • the shaft 7 drives the code wheel 2 to rotate, under the action of the light source 5 and the condensing mirror 4, a rotationally variable optical signal is generated between the code wheel 2 and the indicating grating 3, and is converted into an electrical signal by the photodetector 10.
  • the code wheel 2 is provided with two code tracks, one of which is a clock track 8 which is represented by a period grating on a full circumference, and the other is a pseudo code track 9 which is represented by a raster on a full circumference.
  • the clock code 8 is located on the outer ring and functions to generate direction signals and speed signals.
  • the pseudo code track 9 is a code track with a pseudo code raster pattern, and its function is to generate a position signal, which is defined here: "1" indicates light transmission, and "0" indicates opacity.
  • the pseudo code channel 9 is encoded on a complete circumference using a six-bit binary degenerate pseudo-random sequence, specifically from a six-bit full binary pseudo-random code (sixty-four states) to a degenerate pseudo-random code having sixty states. which is:
  • the angular position code formed by arbitrarily taking consecutive n-6 bit binary codes is unique, such a set of different angular position codes
  • the circuit on the printed board 1 with the photodetector of the present embodiment is composed of a photodetector 10, a shaping circuit 11, a discriminating circuit 12, a shift register 13, a decoder 14, and an output interface circuit 15.
  • the photoelectric input signal is input in three ways, as shown in a, b, and c in FIG. 8, a and b are converted into clocks by the moire fringes formed between the clock track 8 (circular grating) of the code wheel 2 and the indicating grating 3.
  • the signal, a, b, has a phase difference of 90°.
  • c is a pseudo code signal directly converted from the pseudo code track 9 of the code wheel 2.
  • a, b through the shaping circuit 11 into the defense circuit 12 output signal b ' "1" means the axis clockwise operation, "0” means the axis counterclockwise operation, thus obtaining the direction signal.
  • a shaping circuit 11 outputs a signal a 'which is used as a speed signal to obtain a speed signal, and at the same time serves as a clock signal for the shift register 13.
  • the power amplification and level matching of a ', b ', c' through the output interface circuit 15 becomes the rotational digital parameter of the anti-aliasing photoelectric rotation sensor.
  • Embodiment 2 A degenerate pseudo-random rotation sensor consists of a optomechanical structure and a circuit. The difference from the first embodiment is mainly that the coding of the pseudo code channel uses a seven-bit binary degenerate pseudo-random sequence. Specifically:
  • Embodiment 5 A degenerate pseudo-random rotation sensor is composed of a optomechanical structure and a circuit. The difference from the first embodiment is mainly that the coding of the pseudo code channel uses an eight-bit binary degenerate pseudo-random sequence. Specifically:

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Optical Transform (AREA)

Abstract

L'invention concerne un détecteur rotatif pseudo-aléatoire dégradé comprenant un disque de codes (2), lequel comporte une piste de codes (8) et une piste de pseudo-codes (9). La piste de pseudo-codes (9) est codée au moyen d'une séquence pseudo-aléatoire binaire dégradée sur un cercle entier. Plus particulièrement, (1) une boucle fermée est constituée d'une séquence de codes binaires de m bits sur un cercle entier, ce qui signifie que le cercle entier est divisé en m parts égales, m étant un entier positif; (2) un code binaire séquentiel de n bits est sélectionné comme code de position angulaire, n étant supérieur ou égal à 4; (3) m < 2n; (4) le code de position angulaire constitué d'un code binaire séquentiel de n bits sélectionné arbitrairement est unique, et m codes de position angulaire différents correspondent un par un à la position angulaire de m parts égales divisées de façon égale sur le cercle entier.
PCT/CN2007/001864 2006-10-10 2007-06-13 Détecteur rotatif pseudo-aléatoire dégradé WO2008043231A1 (fr)

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CNB2006100966154A CN100425952C (zh) 2006-10-10 2006-10-10 退化伪随机旋转传感器
CN200610096615.4 2006-10-10

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Publication number Priority date Publication date Assignee Title
CN100425952C (zh) * 2006-10-10 2008-10-15 李苏 退化伪随机旋转传感器
CN101922947A (zh) * 2010-08-20 2010-12-22 西南交通大学 一种光电编码器
CN102183266B (zh) * 2011-03-22 2012-07-11 中国科学院光电技术研究所 一种伪随机编码信号的物理提取方法及系统
CN104613991B (zh) * 2015-03-06 2017-04-26 浙江琦星电子有限公司 一种编码器光栅盘及光电编码器
CN108701241B (zh) * 2016-02-23 2022-04-15 雀巢产品有限公司 用于制备饮料或食品的系统的代码和容器
CN107356273B (zh) * 2016-05-09 2021-04-30 成都安驭科技有限公司 一种提高编码检测装置可靠性的方法
CN106374715B (zh) * 2016-09-30 2019-01-25 张瑭 一种基于码盘的电机及其控制方法、控制装置
WO2020215205A1 (fr) * 2019-04-23 2020-10-29 大族激光科技产业集团股份有限公司 Disque de réseau et système de rétroaction
CN113447051B (zh) * 2021-09-02 2021-12-07 北京精雕科技集团有限公司 单码道绝对式位置测量装置

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