WO2018214167A1

WO2018214167A1 - Servo system, motor, absolute encoder, and signal processing circuit for same

Info

Publication number: WO2018214167A1
Application number: PCT/CN2017/086197
Authority: WO
Inventors: 姚守强
Original assignee: 深圳配天智能技术研究院有限公司
Priority date: 2017-05-26
Filing date: 2017-05-26
Publication date: 2018-11-29
Also published as: CN109463037B; CN109463037A

Abstract

A servo system, motor, absolute encoder, and signal processing circuit for the same. The servo system comprises a first interface (11), a main control element (12), and a second interface (14). The first interface (11) is used to connect a photoelectric detector (21) of an absolute encoder (20), and receive a photoelectric signal from the photoelectric detector (21). The main control element (12) analyzes the photoelectric signal to obtain a position signal of a motor rotor, packages the position signal into an ethernet communication data frame, and sends the ethernet communication data frame from the second interface (14) to a servo driver (30) of the motor. In this way, the present invention employs the ethernet communication data frame to transmit the position signal, thus improving the data transmission rate, and enabling real-time acquisition and feedback of the position signal.

Description

Servo system, motor, absolute encoder and signal processing circuit

【技术领域】[Technical Field]

Embodiments of the present invention relate to the field of encoders, and in particular, to a servo system, a motor, an absolute encoder, and a signal processing circuit thereof.

【背景技术】【Background technique】

The motor encoder is a must-have component in motor control for feedback on motor position data. At present, the position feedback encoder information is mainly divided into the following two types of encoders:

The incremental encoder does not provide the absolute position of the motor at power-on, and needs to return to zero to find the origin. The incremental position/angle information is fed back, and the position data is fed back through three differential cables A, B, and Z. The position resolution depends on the number of lines of the incremental encoder. The Z signal represents a zero position, and a Z pulse is generated every one rotation; the A and B signals are position coded signals, and the number of rotations of the encoder is determined by the number of numbers A or B, and the phase relationship between A and B is obtained. Determine the direction of rotation of the motor. This encoder interface is a TTL or HTL compatible digital output level digital pulse, or a sine/cosine signal that uses a differential cable for data transmission.

Absolute encoder, powered to provide the absolute mechanical position of the motor. The electrical interface of the absolute encoder is a serial interface based on pure digital protocol, mainly using RS485 or RS422 differential signals for data transmission. Absolute encoders are currently used for serial encoders for encoder feedback data transmission. The physical communication rate is relatively slow, and the acquisition frequency of position data is severely limited. It is not possible to collect feedback position data in real time, thus affecting the servo. Drive control bandwidth and control accuracy.

【发明内容】 [Summary of the Invention]

The embodiment of the invention provides a servo system, a motor, an absolute encoder and a signal processing circuit thereof, so as to solve the problem that the absolute encoder of the prior art transmits the feedback data of the encoder through the serial bus, and the position of the feedback cannot be collected in real time. Data and other issues.

In order to solve the above technical problem, a technical solution adopted by the embodiment of the present invention is to provide a signal processing circuit including a first interface, a main control component, and a second interface, wherein the first interface is used to connect the optoelectronics of the absolute encoder The detector receives the photoelectric signal from the photodetector, and the main control component analyzes the photoelectric signal to obtain a position signal of the rotor of the motor, and the main control component encapsulates the position signal into an Ethernet communication data frame, and the Ethernet communication data frame is second. The interface is sent to the servo drive of the motor.

The main control component encapsulates the location signal into an Ethernet communication data frame, including:

The main control component processes the position signal to obtain real-time position data;

The real-time location data is encapsulated into an Ethernet communication data frame.

Wherein, the main control component further calculates speed data according to the position signal;

The speed data is encapsulated into an Ethernet communication data frame.

The main control component is a field programmable gate array circuit, and the field programmable gate array circuit comprises a main control unit, a hardware abstraction layer configuration unit, a position signal processing unit, a speed information calculation unit, and an Ethernet protocol stack unit, wherein the hardware abstraction layer The configuration unit is configured to configure peripheral components of the field programmable gate array circuit and the field programmable gate array circuit, and the main control unit is configured to control the position signal processing unit to process the photoelectric signal, thereby obtaining real-time position data, and further controlling the ether. The network protocol stack unit packs the real-time location data into an Ethernet communication data frame.

The second interface includes an RJ45 connector for connecting to the servo drive.

The signal processing circuit further includes a power supply circuit for receiving an external power supply through the second interface, and performing voltage conversion to provide the main control component.

The main control component is configured to send the Ethernet communication data frame to the servo driver through the second interface, and the main control component further receives the control instruction from the servo driver through the second interface to perform a corresponding operation according to the control instruction.

In order to solve the above technical problem, another technical solution adopted by the embodiment of the present invention is to provide an absolute encoder including a light source, a code wheel, a baffle, a photodetector, and a signal processing circuit. The motor rotates with the rotor of the motor, so that the light emitted by the light source acts on the code disc and the baffle to form an optical coded signal that changes with the rotational position of the object to be measured, and the photodetector converts the optical coded signal to form a photoelectric signal. The signal processing circuit includes a first interface, a main control component, and a second interface, wherein the first interface is configured to connect the photodetector of the absolute encoder, and receive the photoelectric signal from the photodetector, and the main control component analyzes the photoelectric signal to obtain The position signal of the rotor of the motor, the main control component encapsulates the position signal into an Ethernet communication data frame, and sends the Ethernet communication data frame from the second interface to the servo drive of the motor.

The main control component encapsulates the position signal into an Ethernet communication data frame, including: the main control component processes the position signal to obtain real-time position data and encapsulate the real-time position data into an Ethernet communication data frame.

The main control component further calculates speed data according to the position signal and encapsulates the speed data into an Ethernet communication data frame.

The main control component includes an Ethernet physical layer chip, configured to encapsulate data into an Ethernet communication data frame, and parse the received Ethernet communication data frame into data; the signal processing circuit further includes an isolation circuit, and the isolation circuit is connected to the main Between the Ethernet physical layer chip of the control element and the second interface.

In order to solve the above technical problem, another technical solution adopted by the embodiment of the present invention is to provide a servo system including a servo driver and an absolute encoder connected to the servo driver, and the absolute encoder includes a light source and a code wheel. The baffle, the photodetector and the signal processing circuit are arranged to rotate with the rotor of the motor, so that the light emitted by the light source acts on the code disc and the baffle to form an optical coded signal that changes according to the rotational position of the object to be tested. The photodetector converts the optically encoded signal to form a photoelectric signal, the signal processing circuit includes a first interface, a main control component, and a second interface, wherein the first interface is used to connect the photodetector of the absolute encoder, and the photoelectricity The detector receives the photoelectric signal, the main control component analyzes the photoelectric signal to obtain the position signal of the motor rotor, the main control component encapsulates the position signal into an Ethernet communication data frame, and sends the Ethernet communication data frame from the second interface to the servo of the motor. driver.

The main control component is a field programmable gate array circuit, and the field programmable gate array circuit includes a main control unit, a hardware abstraction layer configuration unit, a position signal processing unit, a speed information calculation unit, and an Ethernet protocol stack unit, wherein the hardware abstraction layer configuration unit It is used to configure the peripheral components of the field programmable gate array circuit and the field programmable gate array circuit. The main control unit is used to control the position signal processing unit to process the photoelectric signal, thereby obtaining real-time position data and further controlling the Ethernet protocol. The stack unit packs real-time location data into Ethernet communication data frames.

In order to solve the above technical problem, a technical solution adopted by the embodiment of the present invention is to provide a motor including the absolute encoder as before, and the code wheel of the absolute encoder is arranged to rotate with the rotor of the motor.

An advantageous effect of the embodiment of the present invention is that the signal processing circuit of the present invention includes a first interface, a main control element, and a second interface, wherein the first interface is used to connect the photodetector of the absolute encoder, and the photodetector is Receiving the photoelectric signal, the main control component analyzes the photoelectric signal to obtain the position signal of the motor rotor, the main control circuit encapsulates the position signal into an Ethernet communication data frame, and sends the Ethernet communication data frame from the second interface to the servo of the motor The driver transmits the position signal through the Ethernet communication data frame, increases the data transmission rate, and collects the feedback position signal in real time.

【附图说明】 [Description of the Drawings]

1 is a schematic structural diagram of a signal processing circuit according to an embodiment of the present invention;

Figure 2 is a schematic structural view of the main control unit of Figure 1;

Figure 3 is a schematic view showing the second interface of Figure 1 connected to the RJ45 connector and the battery connector;

4 is a schematic structural view of an absolute encoder according to an embodiment of the present invention.

【具体实施方式】【detailed description】

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

1-3, FIG. 1 is a schematic structural diagram of a signal processing circuit according to an embodiment of the present invention; FIG. 2 is a schematic structural view of the main control component of FIG. 1, and FIG. 3 is a second interface and an RJ45 connector of FIG. Schematic diagram of battery connector connections. The signal processing circuit disclosed in this embodiment is applied to an absolute encoder. As shown in FIG. 1, the signal processing circuit includes a first interface 11, a main control unit 12, and a second interface 14.

The first interface 11 is used to connect the photodetector 21 of the absolute encoder 20, and receives the photoelectric signal from the photodetector 21, and the main control component 12 analyzes the photoelectric signal to obtain the position signal of the motor rotor, and the main control component 12 The location signal is encapsulated into an Ethernet communication data frame and the Ethernet communication data frame is transmitted by the second interface 14 to the servo drive 30 of the motor. The first interface 11 can be an optoelectronic interface.

The main control component 12 can process the position signal to obtain real-time position data and package the real-time position data into an Ethernet communication data frame. The main control unit 12 further calculates the speed data based on the position signal and encapsulates the speed data into an Ethernet communication data frame, that is, the main control unit 12 encapsulates the real-time position data and the speed data into an Ethernet communication data frame.

The main control component 12 can be a field programmable gate array circuit (FPGA, Field-Programmable Gate) Array), specifically the main control component 12 can be the SPARTAN6 series XC6SLX25 chip, which can collect position data, calculate speed data and Ethernet protocol stack function.

As shown in FIG. 2, the main control unit 12 includes a main control unit 121, a hardware abstraction layer configuration unit 122, a position signal processing unit 123, a speed information calculation unit 124, an Ethernet protocol stack unit 125, and an Ethernet physical layer chip 126. The abstraction layer configuration unit 122, the position signal processing unit 123, the speed information calculation unit 124, and the Ethernet protocol stack unit 125 are respectively connected to the main control unit 121.

The main control unit 121 is configured to control the position signal processing unit 123 to process the photoelectric signals, thereby obtaining real-time position data, and further controlling the Ethernet protocol stack unit 125 to package the real-time position data into an Ethernet communication data frame.

The hardware abstraction layer configuration unit 122 is configured to configure the peripheral devices of the field programmable gate array circuit and the field programmable gate array circuit, that is, the peripheral device used by the hardware abstraction layer configuration unit 122 for configuring, such as EEPROM, when the program is started. (Electrically erasable programmable read only memory, Electrically Read and write timing of Erasable Programmable Read-Only Memory), read and write timing of Ethernet physical layer chip 126.

The speed information calculation unit 124 is configured to calculate speed information in real time according to the position information collected by the position signal processing unit 123, such as the position frequency and the position difference, the speed information is used for transmission to the servo driver 30, and the servo driver 30 performs the motor according to the speed information. Control feedback.

The Ethernet physical layer chip 126 can be an Ethernet PHY chip, and the Gigabit Ethernet AR8031 is specifically selected. The Ethernet physical layer chip 126 is configured to encapsulate data into an Ethernet communication data frame and parse the received Ethernet communication data frame into data.

The second interface 14 can be an encoder connector. Specifically, the second interface 14 is further connected to the RJ45 connector 15 and the battery connector 16. As shown in FIG. 3, the second interface 14 includes 5V, 0V, FG, and TX+. , TX-, RX+, RX-, BAT+ and BAT-lead, RJ45 connector 15 includes 5V, 0V, FG, TX+, TX-, RX+, RX-lead corresponding to the second interface 14 of the absolute encoder, battery Connector 16 is connected to the BAT+ and BAT-leads for powering the absolute encoder.

The RJ45 connector 15 is used to connect the servo driver 30, that is, the second interface 14 is connected to the servo driver 30 through the RJ45 connector 15, and the second interface 14 is used to send the Ethernet communication data frame to the servo driver 30 through the RJ45 connector 15. The second interface 14 further receives a control command from the servo driver 30 through the RJ45 connector 15, and the master component 12 performs a corresponding operation according to the control command; in addition, the servo driver 30 can also provide a 5V power supply for the signal processing circuit through the RJ45 connector 15. . The battery connector 16 is used to connect the battery 22 of the absolute encoder 20.

Optionally, the signal processing circuit further includes an isolation circuit 17 connected between the Ethernet physical layer chip 126 of the main control component 12 and the second interface 14. The isolation circuit 17 is used for signal isolation to achieve anti-interference. .

Optionally, the signal processing circuit further includes a power supply circuit 18 that receives external power from the battery connector 16 via the second interface 14 and provides voltage conversion to the main control component 12 and the isolation circuit 17.

The transmission rate of the Ethernet communication data frame is not less than 10 Mbps.

The signal processing circuit disclosed in the embodiment transmits the position signal through the Ethernet communication data frame, increases the data transmission rate, and collects the feedback position signal in real time; the signal processing circuit disclosed in this embodiment is also connected to the servo driver 30 through the RJ45 connector 15. No need to use a dedicated connector to improve versatility.

The present invention also provides an absolute encoder. As shown in FIG. 4, the absolute encoder 20 disclosed in this embodiment includes a light source 23, a code wheel 24, a shutter 25, a photodetector 21, and a signal processing circuit 26. The code wheel 24 is arranged to rotate with the rotor of the motor, so that the light emitted by the light source 23 acts through the code wheel 24 and the baffle 25 to form an optical coded signal that changes with the rotational position of the object to be tested, and the photodetector 21 pairs The optical coded signal is detected to form a photoelectric signal, and the signal processing circuit 26 acquires the photoelectric signal from the photodetector 21 and analyzes the photoelectric signal to obtain a position signal of the motor rotor. The signal processing circuit 26 is the signal processing circuit described in the above embodiment, and details are not described herein again.

The present invention also provides a servo system including a servo driver and an absolute encoder as shown in the above embodiment connected to the servo driver. Of course, a servo motor may also be included, and the absolute encoder is used for the servo motor. Position and speed information is transmitted.

The present invention also provides an electric machine comprising an absolute encoder as described in the preceding embodiments, the encoder of the absolute encoder being arranged to rotate with the rotor of the machine.

In summary, the signal processing circuit of the present invention transmits a position signal through a communication data frame, increases the data transmission rate, and collects a feedback position signal in real time; the signal processing circuit disclosed in this embodiment also connects the servo driver through the RJ45 connector. No need to use a dedicated connector to improve versatility.

The above is only the embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformations made by the description of the invention and the drawings are directly or indirectly applied to other related technologies. The fields are all included in the scope of patent protection of the present invention.

Claims

A signal processing circuit for an absolute encoder, characterized in that the signal processing circuit comprises a first interface, a main control element and a second interface, wherein the first interface is used to connect the optoelectronics of the absolute encoder Detecting, and receiving a photoelectric signal from the photodetector, the main control component analyzing the photoelectric signal to obtain a position signal of a motor rotor, the main control component packaging the position signal into an Ethernet communication data frame, And transmitting the Ethernet communication data frame from the second interface to a servo driver of the motor.
The signal processing circuit according to claim 1, wherein said main control unit encapsulates said position signal into an Ethernet communication data frame, comprising:

The main control component processes the position signal to obtain real-time position data;

And compressing the real-time location data into an Ethernet communication data frame.
A signal processing circuit according to claim 2, wherein said main control element further calculates velocity data based on said position signal;

And encoding the speed data into an Ethernet communication data frame.
The signal processing circuit according to claim 3, wherein said main control element is a field programmable gate array circuit, said field programmable gate array circuit comprising a main control unit, a hardware abstraction layer configuration unit, a position signal processing unit, a speed information calculation unit, an Ethernet protocol stack unit, wherein the hardware abstraction layer configuration unit is configured to configure peripheral components of the field programmable gate array circuit and the field programmable gate array circuit, the main control unit And controlling the position signal processing unit to process the photoelectric signal to obtain real-time position data, and further controlling the Ethernet protocol stack unit to package the real-time position data into an Ethernet communication data frame.
The signal processing circuit of claim 1 wherein said second interface comprises an RJ45 connector for connecting to the servo drive.
A signal processing circuit according to claim 5, wherein said signal processing circuit further comprises a power supply circuit for receiving an external power supply through said second interface and performing voltage conversion to provide said main Control components.
A signal processing circuit according to claim 5, wherein said main control element is configured to transmit said Ethernet communication data frame to said servo drive through said second interface, said main control element further passing said The second interface receives a control command from the servo drive to perform a corresponding operation in accordance with the control command.
The signal processing circuit according to any one of claims 1 to 7, wherein the main control element comprises an Ethernet physical layer chip for encapsulating data into an Ethernet communication data frame and receiving the Ethernet The communication data frame is parsed into data; the signal processing circuit further includes an isolation circuit connected between the Ethernet physical layer chip of the main control element and the second interface.
An absolute encoder, characterized in that the absolute encoder comprises a light source, a code wheel, a baffle, a photodetector and a signal processing circuit, the code wheel being arranged to rotate with the rotor of the motor, thereby enabling the The light emitted by the light source is formed by the code wheel and the baffle to form an optical coded signal that changes according to the rotational position of the object to be tested, and the photodetector converts the optical coded signal to form a photoelectric signal. The signal processing circuit includes a first interface, a main control element, and a second interface, wherein the first interface is for connecting a photodetector of the absolute encoder, and receiving the photoelectric signal from the photodetector And the main control component analyzes the photoelectric signal to obtain a position signal of the motor rotor, and the main control component encapsulates the position signal into an Ethernet communication data frame, and the Ethernet communication data frame is configured by the The second interface is sent to the servo drive of the motor.
The absolute encoder according to claim 9, wherein said main control component encapsulates said position signal into an Ethernet communication data frame, comprising: said main control component processing said position signal to obtain real time The location data encapsulates the real-time location data into an Ethernet communication data frame.
The absolute encoder of claim 10 wherein said master component further calculates velocity data based on said position signal and encapsulates said speed data into an Ethernet communication data frame.
The absolute encoder according to claim 11, wherein said main control element is a field programmable gate array circuit, said field programmable gate array circuit comprising a main control unit, a hardware abstraction layer configuration unit, and a position signal processing unit a speed information computing unit, an Ethernet protocol stack unit, wherein the hardware abstraction layer configuration unit is configured to configure peripheral components of the field programmable gate array circuit and the field programmable gate array circuit, the master control The unit is configured to control the position signal processing unit to process the photoelectric signal, thereby obtaining real-time position data, and further controlling the Ethernet protocol stack unit to package the real-time position data into an Ethernet communication data frame.
The absolute encoder of claim 9 wherein said second interface comprises an RJ45 connector for connecting to the servo drive.
The absolute encoder according to claim 13, wherein said signal processing circuit further comprises a power supply circuit for receiving an external power supply through said second interface, and performing voltage conversion to provide said Master control component.
The absolute encoder of claim 13 wherein said master control element is operative to transmit said Ethernet communication data frame to said servo drive via said second interface, said master control element further passing The second interface receives a control command from the servo drive to perform a corresponding operation in accordance with the control command.
The absolute encoder according to any one of claims 11 to 15, wherein the main control element comprises an Ethernet physical layer chip for packaging data into an Ethernet communication data frame and receiving the Ethernet The network communication data frame is parsed into data; the signal processing circuit further includes an isolation circuit connected between the Ethernet physical layer chip of the main control element and the second interface.
A servo system, characterized in that the servo system comprises a servo driver and an absolute encoder connected to the servo driver, the absolute encoder comprising a light source, a code wheel, a baffle, a photodetector, and signal processing In the circuit, the code wheel is arranged to rotate with the rotor of the motor, so that the light emitted by the light source passes through the code wheel and the baffle to form an optical coded signal that changes according to the rotational position of the object to be tested. The photodetector converts the optically encoded signal to form a photoelectric signal, the signal processing circuit comprising a first interface, a main control element and a second interface, wherein the first interface is used to connect the absolute code Photodetector of the device, and receiving the photoelectric signal from the photodetector, the main control component analyzing the photoelectric signal to obtain a position signal of the rotor of the motor, the main control component packaging the position signal into an ether The network communicates a data frame and transmits the Ethernet communication data frame from the second interface to a servo driver of the motor.
The servo system according to claim 17, wherein said main control component encapsulates said position signal into an Ethernet communication data frame, comprising: said main control component processing said position signal to obtain real-time position data And compressing the real-time location data into an Ethernet communication data frame.
The servo system of claim 18 wherein said master component further calculates velocity data based on said position signal and encapsulates said speed data into an Ethernet communication data frame.
The servo system according to claim 19, wherein said main control element is a field programmable gate array circuit, said field programmable gate array circuit comprising a main control unit, a hardware abstraction layer configuration unit, a position signal processing unit, and a speed An information computing unit, an Ethernet protocol stack unit, wherein the hardware abstraction layer configuration unit is configured to configure peripheral components of the field programmable gate array circuit and the field programmable gate array circuit, where the main control unit is configured The position signal processing unit is controlled to process the photoelectric signal to obtain real-time position data, and further controls the Ethernet protocol stack unit to package the real-time position data into an Ethernet communication data frame.
The servo system of claim 17 wherein said second interface comprises an RJ45 connector for connecting to the servo drive.
A servo system according to claim 21, wherein said signal processing circuit further comprises a power supply circuit for receiving an external power supply through said second interface, and performing voltage conversion to provide said main control element.
The servo system according to claim 21, wherein said main control element is configured to transmit said Ethernet communication data frame to said servo drive through said second interface, said main control element further passing said said The second interface receives a control command from the servo drive to perform a corresponding operation in accordance with the control command.
The servo system according to any one of claims 19 to 23, wherein the main control element comprises an Ethernet physical layer chip for packaging data into an Ethernet communication data frame and receiving the received Ethernet communication. The data frame is parsed into data; the signal processing circuit further includes an isolation circuit connected between the Ethernet physical layer chip of the main control element and the second interface.
An electric machine comprising the absolute encoder of any one of claims 9-16, the code disc of the absolute encoder being arranged to rotate with a rotor of the electric machine.