CN115143906A - EQEP module, and system and method for measuring position and speed of motor - Google Patents

EQEP module, and system and method for measuring position and speed of motor Download PDF

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Publication number
CN115143906A
CN115143906A CN202210755264.2A CN202210755264A CN115143906A CN 115143906 A CN115143906 A CN 115143906A CN 202210755264 A CN202210755264 A CN 202210755264A CN 115143906 A CN115143906 A CN 115143906A
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speed
motor
measuring
rotating speed
unit
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朱云娜
张永新
黄毅
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Suzhou Easy Electronic Technology Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
    • G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
    • G01P3/486—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals delivered by photo-electric detectors

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  • General Physics & Mathematics (AREA)
  • Control Of Electric Motors In General (AREA)
  • Control Of Position Or Direction (AREA)

Abstract

The invention relates to an EQEP module, a system and a method for measuring the position and the speed of a motor. An orthogonal coding unit in the module determines a coding signal according to an orthogonal input signal, an index signal and gate output, which are generated by the rotation of a motor and are shifted by 90 degrees, acquired by an optical encoder; the quadrature capture unit is configured to capture a quadrature signal when the motor speed is less than a speed minimum threshold, measuring the rotating speed of the motor according to a quadrature clock generated by rising/falling edges of two input clocks; the time base unit carries out speed calculation according to periodic interruption generated by a system clock; and the position counting control unit is used for receiving the coded signals, determining the running direction, the counting and the position of the motor according to the coded signals and generating interrupt information. The invention can improve the precision of the position and speed measurement of the intelligent equipment.

Description

EQEP module, and system and method for measuring position and speed of motor
Technical Field
The invention relates to the field of motor control, in particular to an EQEP module, a system and a method for measuring the position and the speed of a motor.
Background
Modern intelligent internet of things equipment develops rapidly, wherein an electric servo system has irreplaceable effects in the whole industry, and intelligent equipment with high requirements on motion trajectory control, position control and the like, such as a sweeping robot, 3D printing and the like, needs to adopt a large number of electric servo systems. However, how to meet the requirements on precision, performance and high standard of advanced control strategies is still a task which needs to be solved urgently at present.
Disclosure of Invention
The invention aims to provide an EQEP module, a system and a method for measuring the position and the speed of a motor, which can improve the precision of measuring the position and the speed of intelligent equipment.
In order to achieve the purpose, the invention provides the following scheme:
an EQEP module comprising: the device comprises an orthogonal encoding unit, a position counting control unit, a time base unit, an orthogonal capturing unit and a watchdog;
the orthogonal coding unit is used for determining a coding signal according to orthogonal input signals EQEPA and EQEPB, an index signal EQEPI and a gating input EQEPS which are generated by the rotation of a motor and are phase-shifted by 90 degrees and acquired by an optical encoder; the encoded signal includes: a quadrature clock QCLK generated by rising/falling edges of two input clocks of the quadrature input signal, a signal QDIR for selecting a counting mode, an absolute start position QI of the quadrature pulse signal, the number of times QS that the motor reaches a defined position, interruption information PHE and a signal PCS OUT for feeding back the position counting direction and the number to the outside;
the quadrature capture unit is used for measuring the rotating speed of the motor according to a quadrature clock QCLK generated by rising/falling edges of two input clocks when the rotating speed of the motor is smaller than a rotating speed minimum threshold;
the time base unit is connected with the position counting control unit and the system clock; the time base unit is used for carrying out speed calculation according to periodic interruption generated by a system clock;
the watchdog is connected with the position counting control unit; the watchdog is used for carrying out stall detection;
the position counting control unit is connected with the orthogonal coding unit; and the position counting control unit is used for receiving the coded signals, determining the running direction, the counting and the position of the motor according to the coded signals and generating interrupt information.
Optionally, the position count control unit includes: a position counter and a position count register.
A system for measuring position and speed of a motor, the system comprising: the EQEP module and the optical encoder are connected through the programmable input module; the measurement system includes:
the position measurement module is used for resetting a position counter in the position counting control unit to 0 when the EQEP module works in a position event and reset position counting mode and the index signal QEPI moves in the positive direction; when the index signal QEPI is reverse motion, the position counter is reset to the value in the position counting register in the position counting control unit; determining the mechanical angle of the rotor according to the position count value of the position counter and the resolution linear number of the optical encoder;
the motor rotating speed measuring module is used for measuring the speed by adopting an M method when the rotating speed of the motor is greater than a rotating speed maximum threshold; when the rotating speed of the motor is less than the minimum rotating speed threshold, measuring the speed by adopting a T method; and when the rotating speed of the motor is greater than or equal to the rotating speed minimum threshold and less than or equal to the rotating speed maximum threshold, measuring the speed by adopting an M/T combination method.
Optionally, the position measurement module specifically includes:
position measurement unit for using formula
Figure BDA0003719411240000021
Determining a mechanical angle of the rotor;
wherein θ is the mechanical angle of the rotor, QPOSCNT is the position count value of the position counter, X is the resolution line number of the optical encoder, θ ex Is the angular offset.
Optionally, the motor rotation speed measuring module specifically includes:
a first measurement unit for motor rotation speed using formula
Figure BDA0003719411240000022
Determining the rotating speed of the motor;
a second measurement unit for motor rotation speed using formula
Figure BDA0003719411240000031
Determining the rotating speed of the motor;
a third measuring unit for measuring the motor speed by using the formula S c ＝axS t +bxS m Determining the rotating speed of the motor;
wherein S is m Is the motor speed when the motor speed is greater than the maximum speed threshold, S t Is the motor speed when the motor speed is less than the speed minimum threshold, S c Is the motor speed when the motor speed is greater than or equal to the minimum speed threshold and less than or equal to the maximum speed threshold, Q P For counting the value in the register, F s For measuring the frequency, D P Is the reciprocal of the position pulse frequency division number, C s To a system clock, Q c Are the values in the position count register QCPRDLAT, a and b are weight coefficients,
Figure BDA0003719411240000032
Figure BDA0003719411240000033
S H and S L A maximum threshold value and a minimum threshold value of the rotation speed respectively.
A method for measuring the position and the speed of a motor is used for realizing the system for measuring the position and the speed of the motor, and the method comprises the following steps:
when the EQEP module works in a position event and reset position counting mode, when the index signal QEPI moves in the positive direction, a position counter in the position counting control unit is reset to be 0;
when the index signal QEPI is reverse motion, the position counter is reset to the value in the position counting register in the position counting control unit;
determining the mechanical angle of the rotor according to the position count value of the position counter and the resolution line number of the optical encoder;
when the rotating speed of the motor is greater than the maximum rotating speed threshold, measuring the speed by adopting an M method;
when the rotating speed of the motor is less than the minimum rotating speed threshold, measuring the speed by adopting a T method;
and when the rotating speed of the motor is greater than or equal to the rotating speed minimum threshold and less than or equal to the rotating speed maximum threshold, measuring the speed by adopting an M/T combination method.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides an EQEP module and a system and a method for measuring the position and the speed of a motor, wherein the EQEP module comprises: the device comprises an orthogonal encoding unit, a position counting control unit, a time base unit, an orthogonal capturing unit and a watchdog; the orthogonal coding unit determines a coding signal according to an orthogonal input signal, an index signal and gate output which are generated by the rotation of the motor and are shifted by 90 degrees and acquired by the optical encoder; when the rotating speed of the motor is smaller than the rotating speed minimum threshold value, the orthogonal capturing unit measures the rotating speed of the motor according to an orthogonal clock generated by rising/falling edges of two input clocks; the time base unit carries out speed calculation according to periodic interruption generated by a system clock; the position counting control unit is used for receiving the coded signals, determining the running direction, the counting number and the position of the motor and generating interruption information according to the coded signals, and the EQEP module is matched with the optical encoder and can feed back and calculate the high-precision position, the speed and the like of intelligent equipment such as a sweeping robot and the like loaded with the motor in real time.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of an EQEP module according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide an EQEP module, a system and a method for measuring the position and the speed of a motor, which can improve the precision of measuring the position and the speed of intelligent equipment.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Fig. 1 is a schematic structural diagram of an EQEP module provided by the present invention, and as shown in fig. 1, the EQEP module provided by the present invention includes: the device comprises an orthogonal encoding unit, a position counting control unit, a time base unit, an orthogonal capturing unit and a watchdog.
The orthogonal coding unit is used for determining a coding signal according to orthogonal input signals EQEPA and EQEPB which are generated by the rotation of the motor and are shifted by 90 degrees, an index signal EQEPI and a gate input EQEPS and are acquired by the optical encoder; the encoded signal includes: a quadrature clock QCLK generated by rising/falling edges of two input clocks of the quadrature input signal, a signal QDIR for selecting a count mode, an absolute start position QI of the quadrature pulse signal, the number of times QS the motor reaches a defined position, interrupt information PHE, and a signal PCS OUT for feeding back the position count direction and number to the outside.
The quadrature capture unit is used for measuring the rotating speed of the motor according to a quadrature clock QCLK generated by rising/falling edges of two input clocks when the rotating speed of the motor is smaller than a rotating speed minimum threshold value.
The time base unit is connected with the position counting control unit and the system clock; the time base unit is used for carrying out speed calculation according to periodic interruption generated by a system clock.
The watchdog is connected with the position counting control unit; the watchdog is used for stall detection.
The position counting control unit is connected with the orthogonal coding unit; and the position counting control unit is used for receiving the coded signals, determining the running direction, the counting and the position of the motor according to the coded signals and generating interrupt information.
As shown in fig. 1, an EQEP module provided by the present invention is connected to an optical-electrical encoder through a programmable input module; orthogonal input signals EQEPA and EQEPB which are generated by the rotation of a motor and are shifted by 90 degrees, an index signal EQEPI and a gate input EQEPS and acquired by an optical encoder are input into an EQEP module through a programmable input module, and enable signals EQEQEQEQEQA OE and EQEPS OE which correspond to EQEQEQEQAIN, EQEPB IN, EQEPI IN, EQEPS IN, EQEPI OUT, EQEPS OUT, EQEPA and EQEPS and are generated by corresponding encoding signals are determined.
The position count control unit includes: a position counter and a position count register.
When the EQEP unit selects the quadrature count mode, the device provides a count clock QCLK to the position counter by detecting the edges of the EQEPA and EQEPB signals, where the EQEP logic generates a clock frequency that is 4 times the input clock frequency. The orthogonal coding unit judges the sequence of the two paths of input signals and gives a counting direction QDIR so as to determine the increment and decrement of the counting of the position counting control unit. When the motor rotor connected with the optical encoder rotates to any position of the circular plane, a specific position count value corresponds to the motor rotor, and the position state of the motor can be obtained through calculation.
The invention also provides a system for measuring the position and speed of the motor, which comprises: the EQEP module and the optical encoder are connected through the programmable input module; the measurement system includes:
the position measurement module is used for resetting a position counter in the position counting control unit to be 0 when the EQEP module works in a position event and reset position counting mode and an index signal QEPI moves in the positive direction; when the index signal QEPI moves reversely, the position counter is reset to the value in the position counting register in the position counting control unit; determining the mechanical angle of the rotor according to the position count value of the position counter and the resolution linear number of the optical encoder;
the motor rotating speed measuring module is used for measuring the speed by adopting an M method when the rotating speed of the motor is greater than a rotating speed maximum threshold; when the rotating speed of the motor is smaller than the minimum rotating speed threshold, measuring the speed by adopting a T method; and when the rotating speed of the motor is greater than or equal to the rotating speed minimum threshold and less than or equal to the rotating speed maximum threshold, measuring the speed by adopting an M/T combination method.
When the rotating speed of the motor is greater than the maximum threshold value of the rotating speed, taking a time unit in the time base unit as a time base;
when the motor speed is less than the minimum threshold of the speed, the orthogonal capturing unit is used for edge detection, namely, the timer period between a specific number of position counting pulses is measured, and the time between two position events is measured.
When the rotating speed of the motor is greater than or equal to the rotating speed minimum threshold and less than or equal to the rotating speed maximum threshold, the motor is in a smooth conversion process from low speed to high speed.
When the resolution line number of the optical encoder is X, the value in the position counting register is 4X-1, and when the motor rotor rotates for 360 degrees, the counting value in the position counting unit changes linearly from 0 to 4X-1, so that the position counting value QPOSCNT in proportional relation to the rotor position can be directly obtained from the position counting register, and the mechanical angle of the rotor can be calculated as follows:
Figure BDA0003719411240000061
according to the actual situation, the mechanical angle changes due to different installation processes of the motor rotor or different selection of the reference coordinate system, so that an angle offset theta is introduced into the formula ex And carrying out angle correction, thus obtaining a new rotor mechanical angle calculation formula.
The position measuring unit is used for utilizing the formula
Figure BDA0003719411240000062
Determining a mechanical angle of the rotor;
wherein θ is the mechanical angle of the rotor, QPOSCNT is the position count value of the position counter, X is the resolution line number of the optical encoder, θ ex Is the angular offset.
The motor rotating speed measuring module specifically comprises:
a first measurement unit for motor rotation speed using formula
Figure BDA0003719411240000071
Determining the rotating speed of the motor;
a second measurement unit for motor rotation speed using formula
Figure BDA0003719411240000072
Determining the rotating speed of the motor;
a third measuring unit for measuring the rotation speed of the motor by using the formula S c ＝axS t +bxS m Determining the rotating speed of the motor;
wherein S is m Is the motor speed when the motor speed is greater than the maximum speed threshold, S t Is the motor speed when the motor speed is less than the speed minimum threshold, S c Is the motor speed when the motor speed is greater than or equal to the minimum speed threshold and less than or equal to the maximum speed threshold, Q P Is the value in the position count register, F s For measuring the frequency, D P Is the reciprocal of the position pulse frequency division number, C s To a system clock, Q c Are the values in the position count register QCPRDLAT, a and b are weight coefficients,
Figure BDA0003719411240000073
Figure BDA0003719411240000074
S H and S L A maximum threshold value and a minimum threshold value of the rotation speed respectively.
The invention provides a method for measuring the position and the speed of a motor, which is used for realizing a system for measuring the position and the speed of the motor, and comprises the following steps:
s101, when the EQEP module works in a position event and reset position counting mode, when an index signal QEPI moves in a forward direction, a position counter in a position counting control unit is reset to be 0;
s102, when the index signal QEPI is in reverse motion, the position counter is reset to the value in the position counting register in the position counting control unit;
s103, determining the mechanical angle of the rotor according to the position count value of the position counter and the resolution linear number of the optical encoder;
s104, when the rotating speed of the motor is greater than the maximum rotating speed threshold, measuring the speed by adopting an M method;
s105, when the rotating speed of the motor is smaller than the rotating speed minimum threshold, measuring the speed by a T method;
and S106, when the rotating speed of the motor is greater than or equal to the rotating speed minimum threshold and less than or equal to the rotating speed maximum threshold, measuring the speed by adopting an M/T combination method.
According to the invention, the designed EQEP module is matched with the optical encoder, the output EQEPA, EQEPB, EQEPI and EQEPS signals generated by the optical encoder enter the EQEP module after being processed by the programmable input module, the module can be integrated into a corresponding DSP chip, the high-precision position, speed and the like of intelligent equipment such as a sweeping robot provided with a motor can be calculated in real time through feedback of an algorithm, and the requirements on high standards of precision, performance and an advanced control strategy are met.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the foregoing, the description is not to be taken in a limiting sense.

Claims (6)

1. An EQEP module, comprising: the device comprises an orthogonal encoding unit, a position counting control unit, a time base unit, an orthogonal capturing unit and a watchdog;
the orthogonal coding unit is used for determining a coding signal according to orthogonal input signals EQEPA and EQEPB which are generated by the rotation of the motor and are shifted by 90 degrees, an index signal EQEPI and a gate input EQEPS and are acquired by the optical encoder; the encoded signal includes: a quadrature clock QCLK generated by rising/falling edges of two input clocks of the quadrature input signal, a signal QDIR for selecting a counting mode, an absolute start position QI of the quadrature pulse signal, the number of times QS that the motor reaches a defined position, interruption information PHE and a signal PCS OUT for feeding back the position counting direction and the number to the outside;
the quadrature capture unit is used for measuring the rotating speed of the motor according to a quadrature clock QCLK generated by rising/falling edges of two input clocks when the rotating speed of the motor is smaller than a rotating speed minimum threshold;
the time base unit is connected with the position counting control unit and the system clock; the time base unit is used for carrying out speed calculation according to periodic interruption generated by a system clock;
the watchdog is connected with the position counting control unit; the watchdog is used for stall detection;
the position counting control unit is connected with the orthogonal coding unit; and the position counting control unit is used for receiving the coded signals, determining the running direction, the counting and the position of the motor according to the coded signals and generating interrupt information.
2. The EQEP module of claim 1, wherein the position count control unit comprises: a position counter and a position count register.
3. A system for measuring position and speed of a motor, the system comprising: the EQEP module of any of claims 1-2 and optical encoder connected by a programmable input module; characterized in that the measuring system comprises:
the position measurement module is used for resetting a position counter in the position counting control unit to be 0 when the EQEP module works in a position event and reset position counting mode and an index signal QEPI moves in the positive direction; when the index signal QEPI moves reversely, the position counter is reset to the value in the position counting register in the position counting control unit; determining the mechanical angle of the rotor according to the position count value of the position counter and the resolution linear number of the optical encoder;
the motor rotating speed measuring module is used for measuring the speed by adopting an M method when the rotating speed of the motor is greater than a rotating speed maximum threshold; when the rotating speed of the motor is less than the minimum rotating speed threshold, measuring the speed by adopting a T method; and when the rotating speed of the motor is greater than or equal to the rotating speed minimum threshold and less than or equal to the rotating speed maximum threshold, measuring the speed by adopting an M/T combination method.
4. The system for measuring position and speed of a motor according to claim 3, wherein the position measuring module specifically comprises:
position measuring unit for using formula
Figure FDA0003719411230000021
Determining a mechanical angle of the rotor;
wherein θ is the mechanical angle of the rotor, QPOSCNT is the position count value of the position counter, X is the resolution line number of the optical encoder, θ ex Is the angular offset.
5. The system for measuring the position and the speed of the motor according to claim 4, wherein the motor rotation speed measuring module specifically comprises:
a first measurement unit for motor rotation speed using formula
Figure FDA0003719411230000022
Determining the rotating speed of the motor;
a second measurement unit for motor rotation speed using formula
Figure FDA0003719411230000023
Determining electricityThe machine rotation speed;
a third measuring unit for measuring the rotation speed of the motor by using the formula S c ＝a×S t +b×S m Determining the rotating speed of the motor;
wherein S is m Is the motor speed when the motor speed is greater than the maximum speed threshold, S t Is the motor speed when the motor speed is less than the minimum speed threshold, S c Is the motor speed when the motor speed is greater than or equal to the minimum speed threshold and less than or equal to the maximum speed threshold, Q P Is the value in the position count register, F s For measuring the velocity frequency, D P Is the reciprocal of the position pulse frequency division number, C s To the system clock, Q c Are the values in the position count register QCPRDLAT, a and b are weight coefficients,
Figure FDA0003719411230000024
Figure FDA0003719411230000025
S H and S L A maximum threshold value and a minimum threshold value of the rotation speed respectively.
6. A method for measuring position and speed of a motor, which is used for implementing a system for measuring position and speed of a motor according to any one of claims 3-5, and is characterized in that the method comprises the following steps:
when the EQEP module works in a position event and reset position counting mode, when the index signal QEPI moves in the positive direction, a position counter in the position counting control unit is reset to be 0;
when the index signal QEPI moves reversely, the position counter is reset to the value in the position counting register in the position counting control unit;
determining the mechanical angle of the rotor according to the position count value of the position counter and the resolution line number of the optical encoder;
when the rotating speed of the motor is greater than the maximum rotating speed threshold, measuring the speed by adopting an M method;
when the rotating speed of the motor is smaller than the minimum rotating speed threshold, measuring the speed by adopting a T method;
and when the rotating speed of the motor is greater than or equal to the rotating speed minimum threshold and less than or equal to the rotating speed maximum threshold, measuring the speed by adopting an M/T combination method.
CN202210755264.2A 2022-06-29 2022-06-29 EQEP module, and system and method for measuring position and speed of motor Pending CN115143906A (en)

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