Multi-turn Angle Control Using Absolute Encoder Segmentation
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Solution Overview
Problem
Multi-turn absolute position encoders face challenges in accurately representing positions due to cyclical values, leading to complexity in logical processing and control operations, as a single sample value can represent different angles across multiple turns, causing inaccuracies in determining the actual operation distance.
Innovation Solution
A multi-turn angle controlling method that employs different operation modes based on the target angle's value relative to 360 degrees, with a first operation mode operating at upper-limited speed and a second mode dynamically adjusting speed according to the distance between the starting and target positions, simplifying logical processing and reducing errors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multi-turn absolute position encoders use cyclical sample values (0-4095) for angle measurement, then the encoder can represent multiple turns, but the sample value cannot accurately represent the actual position and operation distance
Solution Approach 1:
The patent segments the multi-turn position into two independent parts: the cyclical sample value (0-4095) from the encoder and the turn count (N) calculated by the controller. This segmentation allows each part to fulfill its function independently - the sample value provides fine-grained angular position within a turn, while the turn count provides coarse-grained multi-turn information, together achieving accurate multi-turn position representation without losing precision.
Solution Approach 2:
The patent introduces an intermediary calculation process that uses the sample value to determine turn count N by comparing with starting position and checking whether the angle passes through 0 degrees. This intermediary logic acts as a mediator between the cyclical encoder output and the linear multi-turn position requirement, resolving the contradiction by translating cyclical values into meaningful positional information.
2Duration of action of stationary object
If the encoder uses cyclical values from 0 to 4095, then the encoder can operate continuously, but logical processing becomes complex and error-prone due to wraparound at boundaries
Solution Approach 1:
The patent extracts the complexity of handling cyclical wraparound by separating it into a dedicated calculation routine that determines turn count N. Instead of embedding complex wraparound logic throughout the control system, the extraction isolates this complexity into a specific step: comparing current and starting sample values, determining whether the angle passes through 0, and calculating N accordingly. This makes the overall system easier to implement and maintain.
Solution Approach 2:
The patent changes the parameter representation from raw cyclical sample values to a transformed parameter set consisting of turn count N and adjusted sample value. This parameter transformation simplifies subsequent control logic by converting the problematic cyclical nature into a more manageable form where position calculations can proceed linearly, reducing logical complexity while maintaining continuous operation capability.
3Manufacturing precision
If different operation modes are used based on target angle value, then control precision is enhanced, but the control logic becomes more complex
Solution Approach 1:
The patent applies dynamics by making the operation mode adjustable based on the target angle value. When the absolute target angle exceeds 360 degrees, the system dynamically switches to a different operation mode that accounts for multiple turns. This dynamic adaptation allows the system to optimize control precision for different operating conditions while keeping the logic structure relatively simple through clear conditional branching rather than complex interlocking logic.
Data Source
AI summary
The present disclosure relates to a multi-turn angle controlling method based on an absolute position encoder, including: obtaining a target angle according to a starting position and a target position, and obtaining number of times N that the target angle passes a predetermined position, determining whether an absolute value of the target angle being greater than 360 degrees, conducting a first operation mode upon determining that the absolute value of the target angle being greater than 360 degrees, incrementing M by one when the operation angle passes the predetermined position until M equals to N, M is a positive integer and an initial value of M is zero, and conducting a second operation mode when M equals to N, N is a positive integer greater than 1.