Acquisition system and method of incremental encoder based on distributed timers

Abstract

The invention provides an acquisition system and method of an incremental encoder based on distributed timers. The acquisition system of the incremental encoder based on the distributed timers comprises a first timer, a second timer and a third timer; the first timer works in a pulse width modulation mode and includes N+1 channels of output, wherein the N channels of output are used to driving a motor, and the N+1th channel of output has a smallest duty ratio and forms a single pulse synchronized to the N channels of output, and the single pulse is output to the second timer and the third timer; the second timer is connected to A and B phases of a quadrature encoder, so as to perform pulse counting on the quadrature encoder; and the third timer is connected to the A and B phases of the quadrature encoder so as to perform pulse timing on the quadrature encoder. The accurate number of pulses and the time of the single pulse of the quadrature encoder in one PWM period are obtained by using a trigger signal synchronized with the PWM period, so that an accurate speed value in one PWM period is obtained, and the system and method have the very important significance for high-precision control.

Description

technical field [0001] The invention relates to the technical field of acquisition circuits, in particular to an acquisition system and method based on an incremental encoder of a distributed timer. Background technique [0002] The acquisition of the quadrature encoder can be done by FPGA, and the M-T algorithm is used to improve the accuracy of the acquisition. This is also a common method for many motor-driven devices, for example: a method to improve the accuracy of the encoder based on calibration technology. [0003] The acquisition of the quadrature encoder can also be completed by DSP, the peripheral function of the DSP part (especially the product of TI) (this patent is mainly the function of the timer part), combined with the M-T algorithm can also realize the high-precision acquisition of the encoder , but it is difficult to keep strictly consistent with the moment of system control. [0004] The defects of the above two types of products are very obvious: [00...

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Problems solved by technology

[0005] a: The unit cost of FPGA in realizing the encoder is much higher than that of the corresponding single-chip microcomputer platform, and the current development flexibility of FPGA is lower than that of ARM-based signal processing chips

[0006] b: Compared with the computing processing chip based on the ARM microcontroller platform, the DSP computing processing chip has higher development difficulty and cycle requirements, and the relative cost of the DSP computing processing chip is higher than the computing processing chip based on the ARM microcontroller platform. In addition, how to combine the system Control (usually PWM control) is more difficult

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