CN116046030A - Sine and cosine encoder subdivision device and method adopting digital hysteresis comparator - Google Patents
Sine and cosine encoder subdivision device and method adopting digital hysteresis comparator Download PDFInfo
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Abstract
The invention relates to a subdivision device and method of a sine and cosine encoder adopting a digital hysteresis comparator, comprising the following steps: the digital signal processor comprises a sine and cosine encoder, a differential amplifier and a DSP processing unit; the DSP processing unit comprises an AD converter and a digital hysteresis comparator; the output end of the sine and cosine encoder is connected with the differential amplifier, and A, B, Z three signals output by the sine and cosine encoder are converted into single-ended voltage signals; the output end of the differential amplifier is connected with the AD converter and is used for voltage sampling; the AD converter is connected with the digital hysteresis comparator and is used for converting an analog quantity sampling value of the AD converter into switching value, when the voltage exceeds the sum of the reference voltage and the hysteresis voltage difference, the switching value is set to be 1, and when the voltage exceeds the difference between the reference voltage and the hysteresis voltage difference, the switching value is set to be 0. The invention can effectively improve the sampling rate and the decoding precision.
Description
Technical Field
The invention belongs to the technical field of weapon system technology/photoelectric information technology/navigation positioning technology, relates to a sine and cosine encoder subdivision device and method, and in particular relates to a sine and cosine encoder subdivision device and method adopting a digital hysteresis comparator.
Background
In recent years, a rotary inertial system has become an important type in the field of inertial measurement, and after a strapdown inertial navigation system introduces a rotary modulation technology, the system error increase caused by constant drift of a gyroscope can be greatly restrained, and the navigation positioning precision of the system is remarkably improved. In a rotary inertial system, the performances of angle measurement, real-time performance and the like can directly influence the modulation effect of the system, and in addition, because the system posture is generated by superposition calculation of an inertial measurement assembly (IMU) posture and a rotating shaft angle, the precision error of angle measurement can be directly applied to the system posture output, so that the rotary inertial system has very high requirements on the precision of angle measurement.
The common high-precision angle measuring element mainly comprises a photoelectric encoder, a rotary transformer, a circular grating and the like, wherein the rotary transformer is a traditional high-precision angle measuring element, and a special excitation power supply and a shaft angle decoding module are required to be provided when the rotary transformer works, so that the defects of more electric elements, large occupied space, complex wiring, high manufacturing cost and the like exist; the circular grating is a high-precision angle measuring element which is emerging in recent years, wherein the absolute circular grating has obvious advantages in the angle measuring application field, but the circular grating is high in price and high in assembly condition requirement; the high-precision photoelectric encoder is generally realized by adopting two modes of increasing the number of dividing lines and dividing sine and cosine, wherein the sine and cosine encoder applying the dividing technology has the advantages of low cost, high cost performance, convenience in assembly and the like.
The traditional sine and cosine encoder decoding device mostly adopts a singlechip, and although the implementation is easy, the singlechip data processing speed and AD sampling precision are lower, and the precision potential of the sine and cosine encoder is difficult to develop.
No prior art patent document, which is the same as or similar to the present invention, was found after searching.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a subdivision device and method for a sine and cosine encoder, which are reasonable in design, low in cost and high in reliability and adopt a digital hysteresis comparator.
The invention solves the practical problems by adopting the following technical scheme:
a sine and cosine encoder subdivision device using a digital hysteresis comparator, comprising: the digital signal processor comprises a sine and cosine encoder, a differential amplifier and a DSP processing unit; the DSP processing unit comprises an AD converter and a digital hysteresis comparator;
the output end of the sine and cosine encoder is connected with the differential amplifier, and A, B, Z three signals output by the sine and cosine encoder are converted into single-ended voltage signals; the output end of the differential amplifier is connected with the AD converter and is used for voltage sampling; the AD converter is connected with the digital hysteresis comparator and is used for converting an analog quantity sampling value of the AD converter into switching value, when the voltage exceeds the sum of the reference voltage and the hysteresis voltage difference, the switching value is set to be 1, and when the voltage exceeds the difference between the reference voltage and the hysteresis voltage difference, the switching value is set to be 0.
A subdivision method of a sine and cosine encoder adopting a digital hysteresis comparator comprises the following steps:
step 3, converting analog quantity sampling values of A, B two paths of voltage signals acquired by the AD converter into switching values by the digital hysteresis comparator;
step 4, a calculation module determines the quadrant and the steering of the encoder at the current moment, and calculates an angle coarse-level count value;
step 5, obtaining a fine level angle based on the angle coarse level count value obtained by calculation in the step 4;
and 6, after the sampling, processing and calculating are completed, calculating the current angle value.
The specific method of the step 3 is as follows;
when the voltage sampling value exceeds the sum of the reference voltage 1.5V and the hysteresis voltage difference 0.1V, the switching value of the path is set to be 1, and when the voltage sampling value exceeds the difference of the reference voltage 1.5V and the hysteresis voltage difference 0.1V, the switching value of the path is set to be 0.
The specific method of the step 4 is as follows:
the calculating module reads the output values of the digital hysteresis comparator at the previous moment and the current moment in a timer interrupt mode, determines the quadrant and the steering of the current moment of the sine and cosine encoder by using the comparison relation of the table 1, and calculates a coarse-level count value by using the following formula:
n(T)＝n(T-1)+dir
wherein: n (T) is the current moment coarse-level count value;
n (T-1) is the coarse level count value at the previous moment;
dir is a turning sign, turning positive to +1 and turning negative to-1.
The calculation method in the step 5 is as follows:
after the coarse level count value is determined, the fine level angle is obtained by combining steering, quadrant and analog quantity information. The calculation formula of the step 6 is as follows:
θ＝Δθ*n(T)+dir*θ f
wherein: θ is the current angle value;
delta theta is a coarse-level angle unit value, and the encoder used in the invention is 0.018 DEG;
n (T) is a coarse-level angle count value;
dir is a turning sign, and is positively turned to +1 and reversely turned to-1;
θ f and (3) calculating the fine angle value for the last step.
The invention has the advantages and beneficial effects that:
1. the invention provides a subdivision method of a sine and cosine encoder by adopting a digital hysteresis comparator, which is oriented to the requirements of a medium-high precision rotary inertial system, adopts a sine and cosine encoder with lower cost, builds a signal conditioning and sampling resolving circuit, uses the digital hysteresis comparator to improve the reliability of signal sampling, and provides a subdivision method of the sine and cosine encoder by adopting the digital hysteresis comparator on the basis, and provides a signal processing method and an angle calculation formula in detail, thereby ensuring the angle precision of a rotating shaft during angle maintenance or small-amplitude movement. Under the condition of controlling hardware cost, the voltage sampling rate and the precision are improved, meanwhile, the switching error caused by voltage fluctuation is eliminated by adopting a digital hysteresis comparator, and the accuracy of the decoding angle of the whole circle of the angle sensor is improved.
2. The invention adopts a simplified conditioning circuit: the subdivision technology of the currently known sine and cosine encoder basically consists of circuits such as differential amplification, level conversion, level comparison, AD sampling and the like, and the subdivision device can be built by using only a differential amplifier chip INA163, a DSP chip TMS320F28335 and peripheral devices.
3. The invention adopts a reliable digital comparator: the comparator with hysteresis characteristic is adopted and is realized by a program in the DSP, so that sampling errors caused by level noise, power supply ripple waves and external interference are eliminated, and the reliability is high.
4. The invention provides an accurate angle calculation algorithm. The invention designs a complete and accurate coarse-level and fine-level angle calculation method, in particular to a method for obtaining through quadrant and steering, designs a fine-level angle calculation formula in a segmented way, and ensures the angle precision of the rotating shaft during angle maintenance or small-amplitude movement.
5. The device adopts the high-performance DSP to carry out AD sampling and data processing, and can effectively improve the sampling rate and decoding precision. Meanwhile, the subdivision technology of the traditional sine and cosine encoder generally determines steering and quadrants directly according to voltage values, and inevitably generates switching errors.
Drawings
FIG. 1 is a block diagram of a signal processing circuit of a sine and cosine encoder according to the present invention;
FIG. 2 is a diagram showing the input/output characteristics of the digital hysteresis comparator according to the present invention;
FIG. 3 is a schematic diagram of the phase analog and switching values of the encoder A, B in the forward rotation of the present invention;
fig. 4 is a block diagram of the signal processing and transmission flow of the present invention.
Detailed Description
Embodiments of the invention are described in further detail below with reference to the attached drawing figures:
a high reliability sine and cosine encoder subdivision device using a digital hysteresis comparator, as shown in fig. 1, comprises: the digital signal processor comprises a sine and cosine encoder, a differential amplifier and a DSP processing unit; the DSP processing unit comprises an AD converter and a digital hysteresis comparator;
the output end of the sine and cosine encoder is connected with the differential amplifier, and A, B, Z three signals output by the sine and cosine encoder are converted into single-ended voltage signals; the output end of the differential amplifier is connected with the AD converter and is used for voltage sampling; the AD converter is connected with the digital hysteresis comparator and is used for converting an analog quantity sampling value of the AD converter into switching value, when the voltage exceeds the sum of the reference voltage and hysteresis pressure difference, the switching value of the circuit is set to be 1, and when the voltage exceeds the difference between the reference voltage and the hysteresis pressure difference, the switching value of the circuit is set to be 0;
in the present embodiment, the signal conditioning circuit mainly uses the differential amplifier INA163 to convert the-2.5V to +2.5v differential level signal into the 0 to 3V level signal; the sampling and calculating circuit is realized by a DSP chip TMS320F28335, a 12-bit AD converter in the chip is adopted for voltage sampling, then a digital hysteresis comparator is programmed, when the voltage exceeds the sum of a reference voltage of 1.5V and a hysteresis voltage difference of 0.1V, the switching value of the circuit is set to be 1, and when the voltage exceeds the difference of the reference voltage of 1.5V and the hysteresis voltage difference of 0.1V, the switching value of the circuit is set to be 0, as shown in fig. 2.
The hysteresis comparator is used to convert the phase analog voltage of the sine and cosine encoder A, B into A, B two-way switching values, and the schematic diagram of the phase analog value and the switching value after comparison processing of the sine and cosine encoder A, B is shown in fig. 3.
And then the switching values at the current moment and the last moment are acquired through timer interruption, the angle coarse-level count value is determined, the steering and the current quadrant are determined through a specific logic relation, the fine-level angle value is calculated by combining the steering, quadrant and analog quantity information, and the current angle value is calculated by combining the angle coarse-level count value and the angle coarse-level count value.
FIG. 4 is a block diagram showing a signal processing and transmission flow of the present invention, wherein an A/B phase signal output by the sine and cosine encoder is transmitted to a digital hysteresis comparator, an analog quantity is converted into a switching quantity, an output end of the digital hysteresis comparator is connected with a logic processing unit, the logic processing unit reads output values of the digital hysteresis comparator at a previous moment and a current moment in a timer interrupt mode to obtain a current steering and quadrant, and thereby an angle coarse-stage count value is calculated; in addition, the A/B phase signals output by the sine and cosine encoder are transmitted to an AD conversion unit to obtain analog voltage values, and the precise angle values are calculated by combining the steering, quadrant and analog voltage value information; and finally, calculating the current angle value by the coarse-level count value and the fine-level count value through the formula.
A subdivision method of a high-reliability sine and cosine encoder adopting a digital hysteresis comparator comprises the following steps:
step 3, converting analog quantity sampling values of A, B two paths of voltage signals acquired by the AD converter into switching values by the digital hysteresis comparator;
the specific method of the step 3 is as follows;
when the voltage sampling value exceeds the sum of the reference voltage 1.5V and the hysteresis voltage difference 0.1V, the switching value of the path is set to be 1, and when the voltage sampling value exceeds the difference of the reference voltage 1.5V and the hysteresis voltage difference 0.1V, the switching value of the path is set to be 0.
And 4, determining the quadrant and the steering of the current moment of the encoder by a calculation module, and calculating an angle coarse-level count value.
The specific method of the step 4 is as follows:
the calculating module reads the output values of the digital hysteresis comparator at the previous moment and the current moment in a timer interrupt mode, determines the quadrant and the steering of the current moment of the sine and cosine encoder by using the comparison relation of the table 1, and calculates a coarse-level count value by using the following formula:
n(T)＝n(T-1)+dir
wherein: n (T) is the current moment coarse-level count value;
n (T-1) is the coarse level count value at the previous moment;
dir is a turning sign, turning positive to +1 and turning negative to-1.
TABLE 1 coarse pulse count value calculation table under forward and reverse rotation condition
Wherein: a is that T-1 And A T The switching value of the A phase voltage at the last moment and the current moment are respectively shown, B T-1 And B T Corresponding to the corresponding switching value of phase B.
Step 5, obtaining a fine level angle based on the angle coarse level count value obtained by calculation in the step 4;
the calculation method in the step 5 is as follows:
after the coarse level count value is determined, the fine level angle is obtained by combining steering, quadrant and analog quantity information according to the formula shown in the table 2:
TABLE 2 Single period internal Angle mapping table under Forward and reverse rotation conditions
Wherein: θ f Is a fine angle value;
delta theta is a coarse-level angle unit value;
V A is the A phase voltage value;
V B is the B phase voltage value;
ΔV hys the hysteresis comparator returns a difference voltage;
V max is the sinusoidal voltage amplitude.
And step 6, after the sampling, processing and calculating are completed, calculating the current angle value by adopting the following formula:
θ＝Δθ*n(T)+dir*θ f
wherein: θ is the current angle value;
delta theta is a coarse-level angle unit value, and the encoder used in the invention is 0.018 DEG;
n (T) is a coarse-level angle count value;
dir is a turning sign, and is positively turned to +1 and reversely turned to-1;
θ f and (3) calculating the fine angle value for the last step.
The working principle of the invention is as follows:
a subdivision method of a high-reliability sine and cosine encoder adopting a digital hysteresis comparator mainly comprises two parts, wherein one part is the construction of a subdivision device, the conditioning and acquisition of voltage signals, and the other part is the design of the digital hysteresis comparator and the decoding of angle values.
The invention takes 5000-line encoder ERN-180 of Heidenhan corporation as an example to describe a specific implementation method in detail, and the output signals of the encoder are 2 paths of differential sine and cosine signals A, B and 1 path of differential zero signal Z.
A first part: setting up a subdivision device, conditioning signals and collecting AD.
The invention adopts the simplest circuit scheme of differential voltage sampling, as shown in fig. 1, adopts a differential operational amplifier INA163 to convert A, B, Z three paths of signals output by an encoder into single-ended voltage signals, wherein the amplitude of A, B two paths of voltage is 3V, and then the voltage signals are connected to an AD input pin of a DSP chip TMS320F 28335. Programming the DSP program to read the AD sampling value and setting the AD conversion rate to be 12.5MSPS.
A second part: digital hysteresis comparators and digital decoding.
1) Digital hysteresis comparator implementation. In consideration of noise existing in analog quantities of A, B two paths of voltage signals acquired by the DSP, a large number of burrs exist near a comparison point when the voltage signals are directly compared with reference voltage 1.5V, and further error of an angle coarse-level count value is caused, and angle errors are generated. Setting the reference voltage of the hysteresis comparator to be 1.5V, and hysteresis voltage difference delta V hys The comparison operation is shown in fig. 2, wherein the comparator output is 1 when the voltage is greater than 1.6V, 0 when the voltage is less than 1.4V, and the comparator output is unchanged when the voltage is between 1.4V and 1.6V. After the device is electrified, when the Z-path switching value is firstly set to 1, the current angle value is cleared, and the Z-path switching value is not required to be paid attention to in the subsequent rotation process.
2) Steering signals, quadrant signals and coarse count values are obtained. The output values of the digital hysteresis comparators at the previous moment and the current moment are read in the DSP in a timer interrupt mode, the quadrant and the steering of the current moment of the encoder are determined by using the comparison relation of the table 1, and meanwhile, the coarse-level count value is calculated by using the following formula.
n(T)＝n(T-1)+dir
Wherein: n (T) is the current moment coarse-level count value;
n (T-1) is the coarse level count value at the previous moment;
dir is a turning sign, turning positive to +1 and turning negative to-1.
TABLE 1 coarse pulse count value calculation table under forward and reverse rotation condition
Wherein: a is that T-1 And A T The switching value of the A phase voltage at the last moment and the current moment are respectively shown, B T-1 And B T Corresponding to the corresponding switching value of phase B.
3) And obtaining the fine-grade angle. After the coarse level count value is determined, a fine level angle value is required to be acquired to improve the angle measurement precision of the encoder, steering, quadrant and analog quantity information is required to be used for fine level angle calculation, and a specific calculation formula is shown in table 2.
TABLE 2 Single period internal Angle mapping table under Forward and reverse rotation conditions
Wherein: θ f Is a fine angle value;
delta theta is a coarse-level angle unit value, and the encoder used in the invention is 0.018 DEG; v (V) A Is the A phase voltage value;
V B is the B phase voltage value;
ΔV hys for hysteresis comparator return difference voltage, the invention is set to 0.1V;
V max is the sinusoidal voltage amplitude, in this case 3V.
4) And calculating and outputting the angle value. After the above sampling, processing and calculation are completed, the current angle value can be calculated, and the calculation formula is as follows.
θ＝Δθ*n(T)+dir*θ f
Wherein: θ is the current angle value;
delta theta is a coarse-level angle unit value, and the encoder used in the invention is 0.018 DEG;
n (T) is a coarse-level angle count value;
dir is a turning sign, and is positively turned to +1 and reversely turned to-1;
θ f and (3) calculating the fine angle value for the last step.
Aiming at the subdivision method of the sine and cosine encoder, a verification test is designed. One side of the rotating device is stuck with an azimuth reference mirror, the angle measuring precision is adopted to align with the azimuth mirror, the current angle sampling value and the index of the comes theodolite are read, and then sequentially carrying out forward rotation for one circle and reverse rotation for one circle, recording the angle sampling value and the index of the Izod theodolite, and continuously aligning 10 groups according to the sequence. And counting the maximum fluctuation value of the difference between the angle sampling value and the theodolite reading, namely the maximum error value of the angle sampling. By the testing method, the subdivision sampling precision of the sine and cosine encoder is superior to 10-angle seconds, and compared with a common 5000-line encoder, the precision is obviously improved, so that the requirement of the angle sampling precision of the medium-high precision inertial measurement device can be met.
Aiming at the high-reliability requirement of the angle sampling of the middle-high-precision rotary inertial system, the invention innovatively designs a subdivision device of a sine-cosine encoder, builds a simplest sampling circuit based on a DSP, realizes the coarse-fine level decoding and the angle output in the DSP after the analog quantity information of the encoder is acquired, particularly the design of a digital hysteresis comparator, greatly improves the anti-interference capability of the angle sampling, and ensures the reliability of the whole machine operation of the inertial navigation system.
It should be emphasized that the embodiments described herein are illustrative rather than limiting, and that this invention encompasses other embodiments which may be made by those skilled in the art based on the teachings herein and which fall within the scope of this invention.
Claims (6)
1. A subdivision device of a sine and cosine encoder adopting a digital hysteresis comparator is characterized in that: comprising the following steps: the digital signal processor comprises a sine and cosine encoder, a differential amplifier and a DSP processing unit; the DSP processing unit comprises an AD converter and a digital hysteresis comparator;
the output end of the sine and cosine encoder is connected with the differential amplifier, and A, B, Z three signals output by the sine and cosine encoder are converted into single-ended voltage signals; the output end of the differential amplifier is connected with the AD converter and is used for voltage sampling; the AD converter is connected with the digital hysteresis comparator and is used for converting an analog quantity sampling value of the AD converter into switching value, when the voltage exceeds the sum of the reference voltage and the hysteresis voltage difference, the switching value is set to be 1, and when the voltage exceeds the difference between the reference voltage and the hysteresis voltage difference, the switching value is set to be 0.
2. A subdivision method of a sine and cosine encoder adopting a digital hysteresis comparator is characterized in that: the method comprises the following steps:
step 1, outputting A, B, Z three signals by a sine and cosine encoder, and converting A, B, Z three signals output by the sine and cosine encoder into single-ended voltage signals by a differential amplifier;
step 2, A, B voltage signals acquired by the AD converter;
step 3, converting analog quantity sampling values of A, B two paths of voltage signals acquired by the AD converter into switching values by the digital hysteresis comparator;
step 4, a calculation module determines the quadrant and the steering of the encoder at the current moment, and calculates an angle coarse-level count value;
step 5, obtaining a fine level angle based on the angle coarse level count value obtained by calculation in the step 4;
and 6, after the sampling, processing and calculating are completed, calculating the current angle value.
3. A subdivision method for a sine and cosine encoder using a digital hysteresis comparator as claimed in claim 2, wherein: the specific method of the step 3 is as follows;
when the voltage sampling value exceeds the sum of the reference voltage 1.5V and the hysteresis voltage difference 0.1V, the switching value of the path is set to be 1, and when the voltage sampling value exceeds the difference of the reference voltage 1.5V and the hysteresis voltage difference 0.1V, the switching value of the path is set to be 0.
4. A subdivision method for a sine and cosine encoder using a digital hysteresis comparator as claimed in claim 2, wherein: the specific method of the step 4 is as follows:
the calculating module reads the output values of the digital hysteresis comparator at the previous moment and the current moment in a timer interrupt mode, determines the quadrant and the steering of the current moment of the sine and cosine encoder by using the comparison relation of the table 1, and calculates a coarse-level count value by using the following formula:
n(T)＝n(T-1)+dir
wherein: n (T) is the current moment coarse-level count value;
n (T-1) is the coarse level count value at the previous moment;
dir is a turning sign, turning positive to +1 and turning negative to-1.
5. A subdivision method for a sine and cosine encoder using a digital hysteresis comparator as claimed in claim 2, wherein: the calculation method in the step 5 is as follows:
after the coarse level count value is determined, the fine level angle is obtained by combining steering, quadrant and analog quantity information.
6. A subdivision method for a sine and cosine encoder using a digital hysteresis comparator as claimed in claim 2, wherein: the calculation formula of the step 6 is as follows:
θ＝Δθ*n(T)+dir*θ f
wherein: θ is the current angle value;
delta theta is a coarse-level angle unit value, and the encoder used in the invention is 0.018 DEG;
n (T) is a coarse-level angle count value;
dir is a turning sign, and is positively turned to +1 and reversely turned to-1;
θ f and (3) calculating the fine angle value for the last step.
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