Encoder battery health management method, equipment and medium

Abstract

The invention discloses an encoder battery health management method and device and a medium, and the method comprises the following steps: judging the working mode of an electronic multi-turn encoder, the working mode of the electronic multi-turn encoder comprising a driver power supply state M1 and a battery power supply low-power-consumption state M2, acquiring battery current of the electronic multi-turn encoder in different working modes, and timing the different working modes of the electronic multi-turn encoder; calculating the residual electric quantity of the battery according to the battery current and the working time of the electronic multi-turn encoder in different working modes; and comparing the battery remaining capacity with a preset threshold value, and judging that the battery is in a low-capacity state when the battery remaining capacity is lower than the preset threshold value. The method has the advantages that the judgment accuracy of the electric quantity of the encoder battery is improved, so that a guarantee is provided for accurate maintenance of the encoder.

Description

Technical Field

[0001] The present application relates to the field of encoder technology, and in particular to an encoder battery health management method, device and medium. Background Art

[0002] At present, encoders are becoming more and more important in the field of servo systems, and the electronic multi-turn solution based on the working principle of magnetic switches is one of the important types of encoders. This encoder uses an electronic multi-turn solution and needs to be powered by an external battery. Low battery power or battery failure will directly affect the operation of the encoder.

[0003] In the prior art, the management of encoder batteries is to identify the battery voltage to determine whether maintenance and battery replacement are required. This method is mainly based on the battery decay curve, and the accuracy and sensitivity of this judgment method are affected by conditions such as discharge current and temperature. It is defective and prone to the situation where the remaining battery life cannot be determined. Summary of the invention

[0004] The present application provides an encoder battery health management method, device and medium, which has the advantage of improving the accuracy of judging the encoder battery power, thereby providing guarantee for accurate maintenance of the encoder.

[0005] The above-mentioned object of the present application is achieved through the following technical solutions:

[0006] On the one hand, the present application provides an encoder battery health management method, comprising the following steps:

[0007] S1: Determine the working mode of the electronic multi-turn encoder. The working modes of the electronic multi-turn encoder include the driver power supply state M1 and the battery-powered low-power state M2. Obtain the battery current of the electronic multi-turn encoder in different working modes and time the different working modes of the electronic multi-turn encoder.

[0008] S2: Calculate the remaining battery power based on the battery current and working time of the electronic multi-turn encoder in different working modes;

[0009] S3: Compare the remaining battery power with a preset threshold value, and determine that the battery is in a low-battery state when the remaining battery power is lower than the preset threshold value.

[0010] Furthermore, the remaining battery capacity Qa is calculated as follows:

[0011] Qa=Q-t1*V*Im1-t2*V*Im2

[0012] Wherein, Q is the total power of the battery, V is the battery voltage, Im1 and Im2 are the battery currents of the electronic multi-turn encoder in working modes M1 and M2 respectively, and t1 and t2 are the working times of the electronic multi-turn encoder in working modes M1 and M2 respectively.

[0013] Furthermore, the method further comprises step S4: constructing a battery remaining time prediction model, in which:

[0014] Set fixed cycles, N1, N2, N3..., N1<N2<N3<...;

[0015] The battery power loss in each fixed period in the past is counted and recorded as Q ij , Q ij Represents the battery power loss in the jth fixed period Ni;

[0016] Based on the battery power loss in each fixed period, predict the remaining battery power duration:

[0017]

[0018] Among them, T ni is the remaining battery life in units of fixed period Ni, Q r is the remaining battery power, Q r =QQ i1 -Q i2 -Q i3 -…-Q ik , Q ik is the power consumption of the battery in the Kth fixed period Ni.

[0019] Furthermore, in the battery remaining time prediction model, a battery power safety margin Qs is configured, and the battery total power Q is processed using the safety margin Qs:

[0020] Q=Q-Qs.

[0021] Furthermore, the minimum value of the remaining battery power duration corresponding to different fixed periods is selected as the output value for output.

[0022] Furthermore, the method further comprises step S5:

[0023] Get the battery decay curve;

[0024] Get the operating current, voltage and temperature of the battery;

[0025] The battery's statistical remaining capacity Qsr is obtained by combining the discharge current, temperature, and the voltage and power attenuation curves.

[0026] The remaining battery power Qa in step S2 is corrected based on the remaining battery power Qsr, and the smaller value of the two is taken as the new remaining battery power Qa;

[0027] The remaining battery power Qsr of the battery is calculated based on the remaining battery power Q r Make corrections and take the smaller value of the two as the remaining power Q of the new battery r .

[0028] On the other hand, the present application provides an encoder battery health management device, including a memory and a processor, wherein the memory stores a computer-readable program, and when the computer-readable program is called and executed by the processor, the encoder battery health management method as described above is implemented.

[0029] On the other hand, the present application provides a computer-readable medium, in which a computer-readable program is stored. When the computer-readable program is called and executed by a computer, the encoder battery health management method as described above is implemented.

[0030] In summary, the beneficial effects of this application are:

[0031] 1. This application determines the remaining power of the battery by detecting the battery power loss, which has better accuracy and guarantees the accuracy of battery maintenance of the battery multi-cycle solution;

[0032] 2. This application can predict the remaining battery life, which is beneficial to battery health management;

[0033] 3. This application directly uses the original hardware of the encoder to judge the battery power, without adding additional hardware such as current transformers. DETAILED DESCRIPTION

[0034] The specific implementation of the present application is described in detail below.

[0035] Embodiment: A method for managing encoder battery health, comprising the following steps:

[0036] S1: Determine the working mode of the electronic multi-turn encoder. The working modes of the electronic multi-turn encoder include the driver power supply state M1 and the battery-powered low-power state M2. Obtain the battery current of the electronic multi-turn encoder in different working modes and time the different working modes of the electronic multi-turn encoder.

[0037] S2: Calculate the remaining battery power based on the battery current and working time of the electronic multi-turn encoder in different working modes;

[0038] The remaining battery capacity Qa is calculated as follows:

[0039] Qa=Q-t1*V*Im1-t2*V*Im2

[0040] Wherein, Q is the total power of the battery, V is the battery voltage, Im1 and Im2 are the battery currents of the electronic multi-turn encoder in working modes M1 and M2 respectively, and t1 and t2 are the working times of the electronic multi-turn encoder in working modes M1 and M2 respectively.

[0041] S3: Compare the remaining battery power with a preset threshold value, and determine that the battery is in a low-power state when the remaining battery power is lower than the preset threshold value. When the battery is determined to be in a low-power state, a reminder is issued to the user or administrator to replace the battery.

[0042] S4: Build a battery remaining time prediction model, in which:

[0043] Fixed periods are set, namely N1, N2, N3, ..., N1 < N2 < N3 < ...; as an example, the fixed periods may be daily, weekly, monthly or other autonomously configured fixed periods.

[0044] The battery power loss in each fixed period in the past is counted and recorded as Q ij , Q ij Represents the battery power loss in the jth fixed period Ni;

[0045] Based on the battery power loss in each fixed period, predict the remaining battery power duration:

[0046]

[0047] Among them, T Ni is the remaining battery life in units of fixed period Ni, Q r is the remaining battery power, Q r =QQ i1 -Q i2 -Q i3 -…-Q iK , Q iK is the power consumption of the battery in the Kth fixed period Ni.

[0048] In the battery remaining time prediction model, a battery power safety margin Qs is configured, and the battery total power Q is processed using the safety margin Qs:

[0049] Q=Q-Qs.

[0050] As an example, taking a fixed period N1 as an example,

[0051]

[0052] T N1The remaining working time of the battery is obtained in a fixed period N1, and T can also be obtained N2 , T N3 ; Select the minimum value of the remaining battery power duration corresponding to different fixed periods as the output value for output.

[0053] Step S5:

[0054] Obtain the battery decay curve; the decay curve is the decay curve of the battery power under different currents, temperatures and voltages, which can be obtained by looking up the battery manual or experimenting. In a specific embodiment, the curve can be mapped to the register of the encoder by looking up a table.

[0055] Obtain the battery's operating current, voltage and temperature; As mentioned above, the battery's operating current can be obtained by judging the encoder's operating status, without the need to set up an additional current monitor. The voltage is obtained through the encoder's MCU's ADC detection port.

[0056] The battery's statistical remaining capacity Qsr is obtained by combining the discharge current, temperature, and the voltage and power attenuation curves.

[0057] The remaining battery power Qa in step S2 is corrected based on the remaining battery power Qsr, and the smaller value of the two is taken as the new remaining battery power Qa;

[0058] The remaining battery power Qsr of the battery is calculated based on the remaining battery power Q r Make corrections and take the smaller value of the two as the remaining power Q of the new battery r .

[0059] In another specific embodiment of the present application, an encoder battery health management device is provided, including a memory and a processor, wherein the memory stores a computer-readable program, and when the computer-readable program is called and executed by the processor, the encoder battery health management method as described above is implemented.

[0060] In another specific embodiment of the present application, a computer-readable medium is provided, in which a computer-readable program is stored. When the computer-readable program is called and executed by a computer, the encoder battery health management method as described above is implemented.

[0061] The above is only a preferred implementation of the present application. It should be pointed out that a person skilled in the art can make several modifications and improvements without departing from the inventive concept of the present application, and these all fall within the scope of protection of the present application.

Claims

1. A method for managing encoder battery health, characterized in that: The following steps are involved: S1: Determine the working mode of the electronic multi-turn encoder. The working modes of the electronic multi-turn encoder include the driver power supply state M1 and the battery-powered low-power state M2. Obtain the battery current of the electronic multi-turn encoder in different working modes and time the different working modes of the electronic multi-turn encoder. S2: Calculate the remaining battery power based on the battery current and working time of the electronic multi-turn encoder in different working modes; S3: Compare the remaining battery power with a preset threshold value, and determine that the battery is in a low-battery state when the remaining battery power is lower than the preset threshold value.

2. The encoder battery health management method according to claim 1, characterized in that: In step S2, the remaining battery power Qa is calculated as follows: Qa=Q-tl*V*Iml-t2*V*Im2 Wherein, Q is the total power of the battery, V is the battery voltage, Im1 and Im2 are the battery currents of the electronic multi-turn encoder in working modes M1 and M2 respectively, and t1 and t2 are the working times of the electronic multi-turn encoder in working modes M1 and M2 respectively.

3. The encoder battery health management method according to claim 1, characterized in that: The method also includes step S4: constructing a battery remaining time prediction model, in which: Set fixed cycles, N1, N2, N3..., N1 <N2<N3<......; The battery power loss in each fixed period in the past is counted and recorded as Qi j , Qi j Represents the battery power loss in the jth fixed period Ni; Based on the battery power loss in each fixed period, predict the remaining battery power duration: Among them, T Ni is the remaining battery life in units of fixed period Ni, Q r is the remaining battery power, Q r =QQ i1 -Q i2 -Q i3 -…-Q iK , Q iK is the power consumption of the battery in the Kth fixed period Ni.

4. The encoder battery health management method according to claim 3, characterized in that: In the battery remaining time prediction model, a battery power safety margin Qs is configured, and the battery total power Q is corrected using the safety margin Qs: Q=Q-Qs.

5. The encoder battery health management method according to claim 4, characterized in that: The minimum value of the remaining battery power duration corresponding to different fixed periods is selected as the output value for output.

6. The encoder battery health management method according to claim 5, characterized in that: The step S5 is also included: Get the battery decay curve; Get the operating current, voltage and temperature of the battery; The battery's statistical remaining capacity Qsr is obtained by combining the discharge current, temperature, and the voltage and power attenuation curves. The remaining battery power Qa in step S2 is corrected based on the remaining battery power Qsr, and the smaller value of the two is taken as the new remaining battery power Qa; The remaining battery power Qsr of the battery in step S4 is calculated based on the remaining battery power Q r Make corrections and take the smaller value of the two as the remaining power Q of the new battery r .

7. An encoder battery health management device, characterized in that: It includes a memory and a processor, wherein the memory stores a computer-readable program, and when the computer-readable program is called and executed by the processor, the encoder battery health management method as described in any one of claims 1-6 is implemented.

8. A computer-readable medium, characterized in that The computer-readable medium stores a computer-readable program, and when the computer-readable program is called and executed by a computer, the encoder battery health management method as described in any one of claims 1-6 is implemented.

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