SinCos coder based method for detecting position and speed

A technology for detecting position and encoder, applied in the directions of transportation, packaging, elevators, etc., can solve the problems of occupying MPU computing time and MPU weight, and achieve the effect of good control performance, good loading quality, and resource saving.

Active Publication Date: 2010-06-09
SHANGHAI GIE EM
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Problems solved by technology

The disadvantage is that it needs to occupy at least two AD sampling units. At the same time, it needs to process the sine and cosine signals and invert the trigon

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  • SinCos coder based method for detecting position and speed
  • SinCos coder based method for detecting position and speed
  • SinCos coder based method for detecting position and speed

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[0023] In order to make it easy to understand the technical means, creative features, objectives and effects achieved by the present invention, the present invention will be further explained below in conjunction with specific drawings.

[0024] Such as figure 1 Shown are the sine and cosine signals produced by HEIDENHAIN ERN1387 SinCos encoder. Phase A and A are 180 degrees in electrical angle. The phase difference between B and B is 180 electrical degrees. The typical amplitude of the sine and cosine incremental signals A and B is 1Vpp, and the phase difference is 90 degrees, figure 1 Shown is that B lags A by 90 degrees in electrical angle. The number of ERN1387 encoder lines is 2048, which means that the encoder rotates one circle to generate 2048 electrical cycles of A, A, B, B signals.

[0025] figure 2 It is the connection diagram between SinCos encoder and MPU through PG card. The A+, A-, B+, B- of the SinCos encoder are converted into A, B sine and cosine signals by th...

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Abstract

The invention discloses an SinCos coder based method for detecting a position and speed, comprising the following steps of: regulating a sine and cosine signal of the SinCos coder, then transmitting to a PG card, converting into a digital value by an AD sampling unit inside the PG card, and computing an accurate position theta r within a subdivided period by an MCU; enabling the sine and cosine signal to pass through a hysteresis loop comparison processing circuit to be converted into an A_PULSE signal and a B_PULSE which are transmitted to a QEP unit inside the PG card and for recording the rotated pulses number N of the SinCos coder; transmitting the rotated pulses number N and the accurate position theta r to the MPU through communication, and obtaining accurate position and speed information through simple computation by the MPU. The method enables a frequency converter to complete drive control under the condition that a synchronous motor is matched with the SinCos coder, and can accurately obtain the position and the speed, thereby showing better control property when an elevator starts at low speed and achieving very good embarkation quality without starting compensation.

Description

Technical field: [0001] The invention relates to the application field of a synchronous motor servo drive with a SinCos encoder in an elevator system, in particular to a method for detecting position and speed based on a SinCos encoder. Background technique: [0002] In the elevator system, in order to ensure the loading quality of the elevator starting, a weighing device is generally used. The weighing device senses the weight of the car (including the load) in advance, and after the variable frequency drive system receives this signal, it pre-compensates the starting torque before starting and releasing the brake, so as to realize a smooth start. The general synchronous traction machine control system obtains the speed and position of the motor through pulse type encoders such as UVW+AB encoder or ABZ encoder. Because the high-precision pulse encoder is very expensive, the accuracy of the pulse encoder generally used is not too high, so that there will be no pulse for a l...

Claims

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Application Information

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IPC IPC(8): B66B1/28
Inventor 吴志敢胡亚山杜永红
Owner SHANGHAI GIE EM
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