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Position ring cross-antipode continuous encoding method based on multi-antipode encoder

An encoding method and encoder technology, which is applied in the field of multi-pole encoders, can solve problems such as cumbersome and lengthy processes, and achieve the effect of simplifying installation difficulty and shortening installation time

Active Publication Date: 2020-06-05
扬州曙光光电自控有限责任公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This puts higher requirements on the installation process of multi-pole encoders. After each installation, it is necessary to check whether the entire motion track of the load is in one of the quadrants of the encoder. If it is not, it needs to be adjusted and installed again. cumbersome and lengthy

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  • Position ring cross-antipode continuous encoding method based on multi-antipode encoder
  • Position ring cross-antipode continuous encoding method based on multi-antipode encoder

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Embodiment Construction

[0021] The solutions of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0022] The present invention considers the position loop control situation where the load is in the range of 0-90 degrees. Since the 2-pair pole encoder is suitable for position loop control with a load within 45 degrees to 90 degrees, the 4-pair pole encoder is suitable for position loop control with a load within 45 degrees. Therefore, when the load movement angle is between 45 degrees and 90 degrees, 2 pairs of pole encoders can be used, each pair of poles has 180 degrees, see figure 1 ; When the load movement angle is between 0° and 45°, 4 pairs of pole encoders can be used, each pair of poles has 90° to improve the position feedback resolution, see figure 2 .

[0023] Take the use of 4 pairs of pole encoders as an example for analysis. The load movement angle rotates clockwise between 0 and 45 degrees, when the zero po...

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Abstract

The invention discloses a position ring cross-antipode continuous encoding method based on a multi-antipode encoder. The position ring cross-antipode continuous encoding method comprises the followingsteps: acquiring an encoder position zero point; determining forward and reverse rotation and antipodal crossing conditions of the encoder according to the current codeword of the encoder and the position zero point of the encoder; and computing position loop feedback codes. Position feedback code words are continuous so that the multi-antipode encoder can be installed at any angle, whether the encoder is in a quadrant of the encoder or not does not need to be detected after one-time installation, the installation difficulty is greatly simplified and the installation time is shortened.

Description

technical field [0001] The invention belongs to the technology of multi-pair pole encoders, in particular to a continuous coding method for position loops across pole pairs based on multi-pair pole encoders. Background technique [0002] Encoders are widely used in CNC manufacturing, steering gear, robotics, aerospace and other fields. The multi-pole encoder divides the encoder circle into several poles (or quadrants), and its resolution is very high, which is suitable for use scenarios that require high precision. Such as figure 1 In the 4 pairs of encoders shown, each pair of poles corresponds to 4096 or 65535 code words, and there are 4096*4 or 65535*4 code words in one revolution, which provides a guarantee for the high precision of the position loop control. However, there is a common problem with multi-pole encoders, that is, when cross-poles (or cross-quadrants) occur, the codeword of the encoder will change abruptly. Assuming that the maximum codeword of each anti...

Claims

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Application Information

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IPC IPC(8): G01D5/00
CPCG01D5/00
Inventor 王颇牟小刚李卢毅何苏昆董海星王超邹黎明
Owner 扬州曙光光电自控有限责任公司