An encoder signal sampling method and device

Abstract

Embodiments of the present invention provide an encoder signal sampling method and device, which relate to the technical field of servo control. The method and device obtain the data frequency of the encoder, determine the clock frequency according to the data frequency, then generate a high-frequency clock signal based on the clock frequency, and then sample the encoder input signal based on the high-frequency clock signal to obtain a sampling signal, Finally, the processor is used to denoise the sampled signal based on the preset algorithm; the high-frequency clock signal is used to sample the input signal of the encoder to obtain more sampling points, so as to obtain enough signal samples for subsequent processing Due to the high-frequency clock signal, the effective signal in the signal sample is obviously larger than the noise signal, so the influence of the noise signal on the sampling signal is smaller, thus ensuring the sampling signal accuracy.

Description

technical field [0001] The invention relates to the technical field of servo control, in particular to an encoder signal sampling method and device. Background technique [0002] The use of motors in industrial automation applications is essential, especially with the rise of Industry 4.0 and state-supported manufacturing. Absolute encoders are widely used no matter in the motor system of the production workshop or the motor system of the industrial robot. [0003] During the acquisition process of the absolute encoder signal, the existing technology usually uses a logic chip to directly acquire the signal once at a specific beat and a fixed communication clock edge, and then performs cyclic redundancy calibration on the acquired signal. If the CRC is found to be correct, the collected position will be fed back to the position loop for corresponding loop control. However, when the logic chip samples the encoder signal at present, because the encoder signal is an asynchrono...

AI Technical Summary

Problems solved by technology

However, when the logic chip samples the encoder signal at present, because the encoder signal is an asynchronous sampling signal for the logic chip, and there are often various interferences in the industrial site, the logic chip often occurs when sampling the encoder input signal. Sampling error, mistaking the noise signal as valid data, resulting in the failure to pass the CRC check and the real-time update of the position information of the absolute encoder, which eventually leads to the inability to accurately control the movement of the motor, which brings instability or failure to the loop control. Significantly reduces the performance index of the system

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