CN206077268U - For the cosine and sine signal process circuit that speed and position are fed back - Google Patents
For the cosine and sine signal process circuit that speed and position are fed back Download PDFInfo
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- CN206077268U CN206077268U CN201620990033.XU CN201620990033U CN206077268U CN 206077268 U CN206077268 U CN 206077268U CN 201620990033 U CN201620990033 U CN 201620990033U CN 206077268 U CN206077268 U CN 206077268U
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Abstract
The utility model proposes a kind of cosine and sine signal process circuit fed back for speed and position, including clock circuit, the clock circuit is connected with timer, the timer is connected with addressed memory, the addressed memory is connected with D/A converting circuit, the D/A converting circuit is connected with power amplifier, the power amplifier is connected with rotary transformer, the rotary transformer connects motor, this utility model can utilize the feedback signal of rotary transformer come the data needed for producing, and precise control motor rotates required speed and positional precision.
Description
Technical field
This utility model belongs to field, and more particularly to a kind of cosine and sine signal fed back for speed and position processes electricity
Road.
Background technology
At present, in digital control system, the detection of position and speed is particularly significant, typically all uses encoder or rotary transformer
As testing equipment.Wherein, encoder can be divided into magnetic coder and photoelectric encoder again.
Magnetic coder is a kind of based on magnetoresistance or the angular transducer of Hall effect, and output signal is rotor angle location
Sin cos functionses.To obtain rotor angle location and angular velocity information, a kind of magnetic coder based on state observer is devised
Demodulating algorithm.Theory analysis shows, when servomotor at the uniform velocity rotates, based on second order and the demodulating algorithm of three-stage shape state observer
Error can asymptotic convergence to zero；When the even acceleration of servomotor or it is even be rotated in deceleration when, there is principle sexual deviation in the former, and the latter
Demodulating error still can be with asymptotic convergence to zero.Compared with pressure method anyway, the algorithm obtains angle by being not required to by diff
Velocity information, with stronger interference rejection capability.Compared with the angleonly tracking method based on phaselocked loop, the algorithm considers motor
Rotation speed change, Angle Position and angular velocity calculation precision it is higher.
Photoelectric encoder is a kind of high-precision angular position measurement sensor, as which has high resolution, response speed
Hurry up, small volume, output stable the features such as, be widely used in motor servo control system.Generally, photoelectric encoder can be divided into
Two kinds of absolute type and increment type.
Both encoders have the shortcomings that common：Resolution can not be adjusted flexibly, and especially require high-resolution
When cost greatly improve；To using environment require, it is impossible to used in overheated, Gao Ci, vibration is big or has in the environment of greasy dirt.
Therefore, need now a kind of cosine and sine signal process circuit fed back for speed and position badly, can be using rotation
The feedback signal of transformator rotates required speed and positional precision come the data needed for producing, precise control motor.
Utility model content
The utility model proposes a kind of cosine and sine signal process circuit fed back for speed and position, solves existing skill
In art, existing encoder resolution can not be adjusted flexibly, and when especially requiring high-resolution, cost is greatly improved；To making
Environment is required, it is impossible to used in overheated, Gao Ci, vibrate problem that is big or having in the environment of greasy dirt.
What the technical solution of the utility model was realized in：The cosine and sine signal fed back for speed and position processes electricity
Road, it is characterised in that including clock circuit, clock circuit are connected with timer, and timer is connected with memorizer, addressed memory
D/A converting circuit is connected with, D/A converting circuit is connected with power amplifier, and power amplifier is connected with rotary transformer, and rotation becomes
Depressor connects motor.
Preferably, rotary transformer includes first winding and Secondary Winding.
Preferably, memorizer is number addressed memory.
Preferably, digital to analog converter adopts DAC chip.
Preferably, digital to analog converter is AD7538.
Preferably, rotary transformer is provided with control circuit.
Preferably, once turn group for stator winding, Secondary Winding is rotor windings.
Preferably, clock circuit is crystal oscillating circuit.
Preferably, the crystal oscillator frequency of crystal oscillating circuit is 1-100KHz.
Preferably, the precision of crystal oscillating circuit is 10rpm.
Preferably, rotary transformer is used to produce sinusoidal signal and receives the feedback signal of motor.
Preferably, the conversion time of sinusoidal excitation signal is 0.5us, and the amplitude and frequency for defining the sinusoidal signal fix,
In T0 moment output voltage V0, in T1 moment output voltage V1 ... ..., in Tn moment output voltage Vn, using n data output
Point produces 360 ° of a complete cycle, and the generation span of signal is 360 °/n.
Preferably, when motor is rotated forward, the feedback signal of the reception of rotary transformer, in the width of 90 °～270 ° of envelopes
Value is successively decreased, and between 270 °～360 ° and 0 °～90 °, the amplitude of envelope is incremented by；And during motor reversal, then envelope amplitude exists
The change of respective regions is antithesis.
Preferably, the maximum speed and operation individual pen time and process requirements according to motor, determines that the reality of motor turns
Speed, according to the needs of main control loop, is output it using D/A converting circuit correspondence analog voltage.
Preferably, its amplitude range is determined according to the feedback signal of motor, so that it is determined that its angular position value and angle bias.
Preferably, motor position value is determined with the output increment value of 90 ° of pulses of two-way phase contrast.
Preferably, the A phases and B phase signals of two-way, the A phases when motor is clockwise are included with 90 ° of pulses of two-way phase contrast
Advanced B phases, otherwise the advanced A phases of B phases.
Preferably, frequency F (hz) of rotary transformer and motor speed N (rpm)：F=N*M/T, wherein M are rotor
Rotate the pulse of a circle, times of the T for needed for rotor rotates a circle, unit ms.
Preferably, n values 480, the generation span of signal is 0.75 °.
After employing above-mentioned technical proposal, the beneficial effects of the utility model are：Compared to conventional techniques, this practicality
New with low cost, strong antijamming capability can be applicable to the working environment of complexity；Can segment as needed, carry as needed
High measurement accuracy.
Description of the drawings
In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, below will be to embodiment
Or accompanying drawing to be used is briefly described needed for description of the prior art, it should be apparent that, drawings in the following description are only
It is some embodiments of the present utility model, for those of ordinary skill in the art, before creative labor is not paid
Put, can be with according to these other accompanying drawings of accompanying drawings acquisition.
Fig. 1 is block diagram of the present utility model；
Fig. 2 is the span schematic diagram of this utility model sinusoidal signal output；
Fig. 3 is this utility model feedback signal envelope amplitude change schematic diagram；
Angle Position and bias schematic diagram of the Fig. 4 for this utility model motor.
Specific embodiment
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only this utility model a part of embodiment, rather than whole
Embodiment.Based on the embodiment in this utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment for being obtained, belongs to the scope of this utility model protection.
As Figure 1-4, rotary transformer is a kind of rotatable special transformation of accurate Secondary Winding (rotor windings)
Device, when the external single-phase alternating current source forcing of its first winding (stator winding), the amplitude voltage of its Secondary Winding output with
The functional relationship that the corner of rotor has certain strict.Adopt in lathe servo-drive and use it as speed and position feedback device.
We are fixed on the stator of rotary transformer on the stator of motor, after its rotor is installed on the armature spindle of motor, with regard to energy
Instantaneous steering, rotating speed and the residing angle of motor are gone out according to the two-way sin and cos signal of change of rotary transformer.Meanwhile,
We can be infinitely segmented to itself sin and cos signal.As long as that is, ADC has enough digits, it is possible to reach arbitrarily
Required speed and positional precision.
Sine and cosine process circuit includes two parts：The process circuit for producing circuit and feedback signal of former limit pumping signal
In the speed and position feedback device with rotary transformer as core, the precision of its observing and controlling depends directly on former limit
Pumping signal.Because this pumping signal is added on " transformator ", sinusoidal signal is in general all adopted, be to improve feedback letter
Number resolution, the frequency of pumping signal will be more than the frequency of feedback signal amplitude change.Consider, we select 2Khz
Sinusoidal signal as pumping signal.
The generation of sinusoidal excitation signal there is many ways in which, in order to be able to improve at any time, be produced using " table look-up+DAC " mode
Sinusoidal signal.Wherein, DAC chip employs the AD7538 of AD companies.This chip be 14, conversion time about 0.5us it is left
Right digital to analog converter, maximum error are ± 4LSB.
Sinusoidal signal in T0 moment output voltage V0, in T1 moment output voltage V1 ... ..., in Tn moment output voltages
Vn.So repeatedly, just generate the sinusoidal signal that an amplitude and frequency are fixed.The quantity (output points) of Tn just determines letter
Number precision.Now, we produce a complete cycle (360 °) with 480 data output points, that is to say, that the generation of signal
Span is 0.75 °.
The data required for us are produced using the feedback signal of rotary transformer.
For the operating of motor, first just it is to be understood that its rotation direction (being to rotate forward or invert).This is one and opens
Pass amount (non-zero i.e. 1), but need to identify within the minimum sampling time, great speed and site error can be otherwise brought,
And it is likely to result in driving.
When assuming that motor rotates forward (clockwise), in the feedback SIN signal of rotary transformer, 90 °～270 ° of envelopes
Amplitude is successively decreased, and between 270 °～360 ° and 0 °～90 °, the amplitude of envelope is incremented by；And during motor reversal, then envelope amplitude exists
The change of respective regions is antithesis.And the determination of the specific Angle Position of motor is discussed below.
4000 P-pulses can be exported when motor rotation one is enclosed with due to feedback processing circuit, therefore, also can be most
Differentiate and send the steering of motor in short time.This shortest time, just refer to the speed and position for being not result in motor rotation
The time of detection control failure, it is specifically related to the speed absolute value of motor rotation.
As long as calculate the revolution of motor rotation in certain hour or calculate that the certain angular displacement of motor operation spent when
Between, we have just obtained the rotating speed of motor.Control accuracy of the servo-drive to speed is determined to the computational accuracy of motor speed.
It is when motor maximum speed is 3000rpm, minimum to set step pitch as 1rpm.In position to speed during precise control (processing)
The control accuracy requirement highest of degree, but at this moment motor can only be typically operated within the 30% of maximum speed, that is, 1000rpm
Within.
Therefore, speed calculation situation of the selective analysiss motor in 1000rpm first, now, the circle of motor operation one needs
Time 60ms；And motor operation speed be 999rpm when, operation one circle need time 60.06ms, analogized with secondary.
After detecting the real-time rotating speed of motor, it is possible to according to the needs of main control loop, with parallel data or correspondence mould
Intend voltage to output it.
The calculating of motor position is comparatively just fairly simple, but first has to solve absolute position when motor just goes up electricity
Detection.
Start ADC after servo-drive power-up initializing is finished immediately, the amplitude of rotary transformer secondary side signal is gathered
Get up, by its signal amplitude contrast with each Angle Position of storage, it is possible to clearly calculate motor physical location now.
The step pitch of collection motor Angle Position is 0.09 °, if saying that motor does not locate the position of integer step pitch again, then secondary is believed
Number amplitude also will not with storage any one value be consistent completely, but in certain two value between, at this moment, we will use
The bias of interpolation calculation motor Angle Position and integer step pitch is simultaneously recorded, the amendment calculated with step pitch later.
The amplitude of the feedback signal that machine is measured when upper electric is 000EH, and it is between 000DH and 001AH, that is to say, that angle
Position is between 0.09 ° and 0.18 ° and close 0.09 °.So, it is believed that the Angle Position of motor just at 0.09 °, only not
Bias has been crossed for 0.014 °
Positional value typically (further to segment, typically also provides two-way with the pulse of 90 ° of A, B two-way phase
A*, B* signal) output increment value.If A phases advanced B phases when motor is operated clockwise, on the contrary the advanced A phases of B phases.And the frequency of pulse
With the rotating speed of motor into linear dependence.For example：If often enclosing 4000 pulses
Then its frequency F (hz) with the relation of motor speed N (rpm) is：
F=N*4000/60
During such as N=60rpm, frequency F of P-pulse is 4Khz.
The operation principle being somebody's turn to do is：Compared to conventional techniques, this utility model is with low cost, and strong antijamming capability can
It is applied to the working environment of complexity；Can segment as needed, improve accuracy of detection as needed.
Preferred embodiment of the present utility model is the foregoing is only, it is not to limit this utility model, all at this
Within the spirit and principle of utility model, any modification, equivalent substitution and improvements made etc. should be included in this utility model
Protection domain within.
Claims (10)
1. the cosine and sine signal process circuit that speed and position are fed back is used for, it is characterised in that including clock circuit, the clock
Circuit is connected with timer, and the timer is connected with memorizer, and the addressed memory is connected with D/A converting circuit, described
D/A converting circuit is connected with power amplifier, and the power amplifier is connected with rotary transformer, the rotary transformer connection electricity
Machine.
2. the cosine and sine signal process circuit fed back for speed and position according to claim 1, it is characterised in that institute
Stating rotary transformer includes first winding and Secondary Winding.
3. the cosine and sine signal process circuit fed back for speed and position according to claim 2, it is characterised in that institute
Memorizer is stated for number addressed memory.
4. the cosine and sine signal process circuit fed back for speed and position according to claim 3, it is characterised in that institute
State digital to analog converter and adopt DAC chip.
5. the cosine and sine signal process circuit fed back for speed and position according to claim 4, it is characterised in that institute
Digital to analog converter is stated for AD7538.
6. the cosine and sine signal process circuit fed back for speed and position according to claim 5, the rotation transformation
Device is provided with control circuit.
7. the cosine and sine signal process circuit fed back for speed and position according to claim 6, it is characterised in that institute
State, the Secondary Winding is rotor windings.
8. the cosine and sine signal process circuit fed back for speed and position according to claim 6, it is characterised in that institute
Clock circuit is stated for crystal oscillating circuit.
9. the cosine and sine signal process circuit fed back for speed and position according to claim 8, it is characterised in that institute
The crystal oscillator frequency for stating crystal oscillating circuit is 1-100KHz.
10. the cosine and sine signal process circuit fed back for speed and position according to claim 9, it is characterised in that
The precision of the crystal oscillating circuit is 10rpm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620990033.XU CN206077268U (en) | 2016-08-29 | 2016-08-29 | For the cosine and sine signal process circuit that speed and position are fed back |
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| CN201620990033.XU CN206077268U (en) | 2016-08-29 | 2016-08-29 | For the cosine and sine signal process circuit that speed and position are fed back |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106357172A (en) * | 2016-08-29 | 2017-01-25 | 西安秦川数控***工程有限公司 | Sine-cosine signal processing circuit for speed and positon feedback |
| CN107702731A (en) * | 2017-09-30 | 2018-02-16 | 中国船舶重工集团公司第七0七研究所 | A kind of method of testing to unknown parameter gyroscope |
| CN112434254A (en) * | 2020-11-24 | 2021-03-02 | 上海维宏智能技术有限公司 | Method, system, device, processor and storage medium for implementing incremental pulse count value correction processing for sine and cosine encoder |
-
2016
- 2016-08-29 CN CN201620990033.XU patent/CN206077268U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106357172A (en) * | 2016-08-29 | 2017-01-25 | 西安秦川数控***工程有限公司 | Sine-cosine signal processing circuit for speed and positon feedback |
| CN107702731A (en) * | 2017-09-30 | 2018-02-16 | 中国船舶重工集团公司第七0七研究所 | A kind of method of testing to unknown parameter gyroscope |
| CN107702731B (en) * | 2017-09-30 | 2020-08-25 | 中国船舶重工集团公司第七0七研究所 | Method for testing gyroscope with unknown parameters |
| CN112434254A (en) * | 2020-11-24 | 2021-03-02 | 上海维宏智能技术有限公司 | Method, system, device, processor and storage medium for implementing incremental pulse count value correction processing for sine and cosine encoder |
| CN112434254B (en) * | 2020-11-24 | 2022-09-16 | 上海维宏智能技术有限公司 | Method, system, device, processor and storage medium for implementing incremental pulse count value correction processing for sine and cosine encoder |
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Effective date of registration: 20230802 Address after: 710061 Room 301, Fengxi Construction Headquarters, Qinchuangyuan, Xianhu Road, Dawang Street, Fengxi New City, Xi'an City, Shaanxi Province Patentee after: Shaanxi Qinchuan Intelligent Machine Tool Research Institute Co.,Ltd. Address before: Room 510, Block A, Zone B, Industrial Office Building, No. 181 Taibai South Road, Xi'an City, Shaanxi Province, 710068 Patentee before: Xi'an Qinchuan NC System Engineering Co.,Ltd. |
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