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Sine-cosine encoder high precision signal processing system and method
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A technology of sine and cosine encoder and signal processing, which can be used in instruments, conversion sensor output, measurement devices, etc., and can solve problems such as inability to meet higher resolution requirements.
Active Publication Date: 2016-12-07
中工科安科技有限公司 +2
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The encoder whose output signal is a TTL square wave can only be multiplied by 4, which cannot meet the application fields that require higher resolution for the real-time position value of the rotor; while the encoder whose output signal is sine and cosine, its signal It can be subdivided by any number of times electronically, so the sine-cosine encoder can be widely used in occasions that have higher subdivision requirements for the real-time position value of the rotor
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[0049] Under ideal conditions, the incremental rotary encoder outputs two sine and cosine signals with a phase difference of 90 degrees between A and B. When the encoder rotates in the positive direction, the B output signal phase lags the A signal by 90 degrees; on the contrary, when the encoder rotates in the opposite direction, the A output signal phase lags the B signal by 90 degrees. When the encoder rotates in the forward direction, the signal waveform is output, such as Figure 8 as shown, Figure 8 Output signal waveform diagram for the positive rotation of the encoder.
[0050] The initial signal of the encoder needs to be converted and processed before information such as the motor angle position can be obtained. In terms of signal processing, the encoder output signal is divided into two paths, such as Figure 9 as shown, Figure 9 It is a functional block diagram of the rotary encoder signal pr...
[0084] 3. The feed rate of the screw rod per revolution of the motor is 5mm, that is, 5mm / r;
[0085] 4. The feed rate resolution reaches 0.0001mm, and the corresponding mechanical angle is 360 / (5 / 0.0001)=0.0072°=25.92″.
[0086] Let the encoder subdivision multiple be N, then: It is obtained that N>24.4, that is, the minimum 25 multiplier. Note: Since the frequency of the encoder interface unit has been multiplied by four, in order to achieve the ideal resolution, it needs to be multiplied by seven times, so that the overall subdivision multiple reaches 28 times.
[0087] When the rotational speed is 3000rpm, such as Figure 8 As shown, the frequency of the encoder output sine and cosine signals is:
[0088] Fine interpolation calculation formula:
[0089] Calculation formula of mechanical rotation angle:
[0090] Speed calculatio...
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Abstract
The invention discloses a sine-cosine encoder high precision signalprocessingsystem and method. The method is used for processing Asin[alpha] and Bcos[alpha] of a 90-degree phase difference output by an incremental rotary encoder; encoder signals Asin[alpha] and Bcos[alpha] are firstly subjected to differential amplification and shaping filtering; then coarse code counting is carried out to obtain coarse code information, and a real-time fine interpolation position value is obtained through an electronic subdivision method based on the fact that the arc tangent value is directly calculated with the coordinate rotation digital algorithm; and finally, the coarse code information and the real-time fine interpolation position value are integrated to obtain the high-precision angular position and the high-precision angular speed of a motor. The invention solves the technical problem of carrying out refinement of any multiple of an original signal, and achieves any refinement in theory, and thus the rotor real-time angular value (rad) and the rotor real-time speed value (rad / s) higher than the resolution of the original signal are obtained through calculation. The invention also discloses a system employing the method.
Description
technical field [0001] The invention relates to a signal processingsystem, in particular to a high-precision signal processing system of a sin-cosine encoder and a method thereof. Background technique [0002] An incremental sin-cos encoder is a precision sensor that measures angular displacement and angular velocity. Sine-cosine encoders are widely used in scientific and technological fields such as precision measurement and real-time control due to their high resolution, high precision, non-contact measurement, and reliable use. [0003] As the precision requirements of CNC systems and modern industrial control systems are getting higher and higher, encoders with higher resolution and precision are required. However, only relying on the improvement of hardware performance cannot meet the user's requirements for higher resolution of the instantaneous position and speed of the motor rotor. Therefore, it is necessary to further electronically subdivide the sine and cosine s...
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