CN106357172A - Sine-cosine signal processing circuit for speed and positon feedback - Google Patents
Sine-cosine signal processing circuit for speed and positon feedback Download PDFInfo
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- CN106357172A CN106357172A CN201610753968.0A CN201610753968A CN106357172A CN 106357172 A CN106357172 A CN 106357172A CN 201610753968 A CN201610753968 A CN 201610753968A CN 106357172 A CN106357172 A CN 106357172A
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- 230000005284 excitation Effects 0.000 claims description 5
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- 210000001367 artery Anatomy 0.000 claims 1
- 238000004080 punching Methods 0.000 claims 1
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- 238000001514 detection method Methods 0.000 description 5
- 238000005086 pumping Methods 0.000 description 5
- 238000004804 winding Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
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Abstract
The invention provides a sine-cosine signal processing circuit for speed and positon feedback. The circuit comprises a clock circuit, wherein the clock circuit is connected with a timer, the timer is connected with an address memory, the address memory is connected with a digital-to-analog conversion circuit, the digital-to-analog conversion circuit is connected with a power magnifying circuit, and the power magnifying circuit is connected with a rotary transformer which is connected with a motor. The circuit can generate required data according to feedback signals of the rotary transformer and precisely control the speed required by rotation of the motor and the position precision.
Description
Technical field
The invention belongs to field, particularly to a kind of cosine and sine signal process circuit for speed and position feedback.
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 angular transducer based on magnetoresistance or Hall effect, and output signal is rotor angle location
Sin cos functionses.For obtaining rotor angle location and angular velocity information, devise a kind of magnetic coder based on state observer
Demodulating algorithm.Theory analysis shows, the demodulating algorithm when servomotor at the uniform velocity rotates, based on second order and three-stage shape state observer
Error all can asymptotic convergence to zero；When servomotor is even accelerate or 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, this algorithm is not required to obtain angle by diff
Velocity information, has stronger interference rejection capability.Compared with the angleonly tracking method based on phaselocked loop, this algorithm considers motor
Rotation speed change, Angle Position and angular velocity calculation precision higher.
Photoelectric encoder is a kind of high-precision angular position measurement sensor, because it has high resolution, response speed
Hurry up, small volume, output is the features such as stablize, be widely used in motor servo control system.Generally, photoelectric encoder can be divided into
Absolute type and two kinds of increment type.
Both encoders have the shortcomings that common: resolution can not be adjusted flexibly, and especially require high-resolution
When cost greatly improve；The environment using is required it is impossible to used in overheated, Gao Ci, vibrate in environment that is big or having greasy dirt.
Therefore, need now a kind of cosine and sine signal process circuit for speed and position feedback badly, can be using rotation
Come the data needed for producing, precise control motor rotates required speed and positional precision to the feedback signal of transformator.
Content of the invention
The present invention proposes a kind of cosine and sine signal process circuit for speed and position feedback, solves in prior art
Existing encoder resolution can not be adjusted flexibly, and especially requires cost when high-resolution to greatly improve；To use
Environment requires it is impossible to be used in overheated, Gao Ci, the problem vibrating in environment that is big or having greasy dirt.
The technical scheme is that and be achieved in that: for the cosine and sine signal process circuit of speed and position feedback,
Including clock circuit, described clock circuit is connected with timer, and described timer is connected with addressed memory, the storage of described address
Device is connected with D/A converting circuit, and described D/A converting circuit is connected with power amplifier, and described power amplifier is connected with rotation and becomes
Depressor, described rotary transformer connects motor.
Preferably, described rotary transformer is used for receiving the feedback signal of motor, and described D/A converting circuit is used for producing
Sinusoidal excitation signal.
Preferably, the conversion time of described sinusoidal excitation signal is 0.5us, and the amplitude and the frequency that define this sinusoidal signal are solid
Fixed, 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 rotates 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 according to motor and operation individual pen time and process requirements, determine that the reality of motor turns
Speed, according to the needs of main control loop, is output it using the corresponding analog voltage of described D/A converting circuit.
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 are worth partially.
Preferably, motor position value is determined with the output increment value of 90 ° of pulses of two-way phase contrast.
Preferably, a phase and the b phase signals of two-way, a phase when motor is clockwise is included with 90 ° of pulses of two-way phase contrast
Advanced b phase, otherwise the advanced a phase of b phase.
Preferably, frequency f (hz) of described rotary transformer and motor speed n (rpm): f=n*m/t, wherein m are motor
Rotor rotates the pulse of a circle, and t rotates a circle required time, unit ms for rotor.
Preferably, described n value 480, the generation span of signal is 0.75 °.
After employing technique scheme, the invention has the beneficial effects as follows: compared to conventional techniques, cost of the present invention
Cheap, strong antijamming capability, can be applicable to the working environment of complexity；Can segment as needed, improve detection essence as needed
Degree.
Brief description
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Have technology description in required use accompanying drawing be briefly described it should be apparent that, drawings in the following description be only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, also may be used
So that other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the block diagram of the present invention；
The span schematic diagram that Fig. 2 exports for sinusoidal signal of the present invention；
Fig. 3 feeds back signal envelope amplitude change schematic diagram for the present invention；
Fig. 4 is the Angle Position of motor of the present invention and is partially worth schematic diagram.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation description is it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of not making creative work
Embodiment, broadly falls into the scope of protection of the invention.
As Figure 1-4, rotary transformer is a kind of accurate Secondary Winding (rotor windings) rotatably special transformation
Device, when its external single-phase alternating current source forcing of first winding (stator winding), its Secondary Winding output amplitude voltage with
The corner of rotor has certain strict functional relationship.Lathe servo-drive is adopted and uses it as speed and position feedback device.
The stator of rotary transformer is fixed on the stator of motor for we, after its rotor is installed on the armature spindle of motor, with regard to energy
Two-way s i n according to rotary transformer and cos signal of change go out instantaneous steering, rotating speed and the residing angle of motor.With
When, we infinitely can segment to its s i n 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 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 to be added on " transformator ", in general all adopt sinusoidal signal, for improving 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, to be produced using " table look-up+dac " mode
Sinusoidal signal.Wherein, dac chip employs the ad7538 of ad company.This chip be 14, conversion time about 0.5us left
Right digital to analog converter, maximum error is ± 4lsb.
Sinusoidal signal in t0 moment output voltage v0, in t1 moment output voltage v1 ... ..., in tn moment output voltage
vn.So repeatedly, just create the sinusoidal signal that an amplitude and frequency are fixed.The quantity (output points) of tn just determines letter
Number precision.Now, we produce complete cycles (360 °) with 480 data output points that is to say, that the generation of signal
Span is 0.75 °.
Feedback signal using rotary transformer produces our required data.
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 is 1), but need to identify within the minimum sampling time, otherwise can bring great speed and site error,
And it is likely to result in driving.
When assuming that motor rotates forward (clockwise), in the feedback s i n signal of rotary transformer, 90 °～270 ° envelopes
Amplitude successively decrease, between 270 °～360 ° and 0 °～90 ° envelope amplitude be incremented by；And during motor reversal, then envelope amplitude
Respective regions change antithesis.And the determination of the specific Angle Position of motor is discussed below.
4000 P-pulses can be exported with due to feedback processing circuit when motor rotation one encloses, therefore, also can be
Differentiate and send the steering of motor in short time.This shortest time is it is simply that refer to be not result in the speed of motor rotation and position
Detection controls the time of failure, and it is specifically related to the speed absolute value of motor rotation.
As long as calculate the revolution of motor rotation in certain time or calculate that the certain angular displacement of motor operation spent when
Between, we have just obtained the rotating speed of motor.The control accuracy to speed for the servo-drive is determined to the computational accuracy of motor speed.
When motor maximum speed is 3000rpm, minimum sets step pitch as 1rpm.When position precise control (processing) to speed
The control accuracy requirement highest of degree, but within this moment motor typically can only operate in the 30% of maximum speed, that is, 1000rpm
Within.
Therefore, the speed calculation situation in 1000rpm for the selective analysiss motor first, now, motor operation one circle needs
Time 60ms；And motor operation speed be 999rpm when, run one circle require time for 60.06ms, analogized with secondary.
It is possible to according to the needs of main control loop after detecting the real-time rotating speed of motor, with parallel data or corresponding mould
Intend voltage to output it.
The calculating of motor position is comparatively just fairly simple, but first has to solve absolute position when electricity just gone up by motor
Detection.
Start adc immediately after servo-drive power-up initializing finishes, by the amplitude collection of rotary transformer secondary side signal
Get up, it is contrasted it is possible to clearly calculate motor physical location now with the signal amplitude of each Angle Position of storage.
The step pitch of collection motor Angle Position is 0.09 °, if saying that the position of integer step pitch more do not located by motor, then secondary letter
Number amplitude also will not be consistent completely with any one value of storage, and be between certain two value, at this moment, we will use
Interpolation calculation motor Angle Position is partially worth and records with integer step pitch, the correction being calculated with step pitch later.
The amplitude of the feedback signal that machine records in upper electricity is 000eh, and it is between 000dh and 001ah that is to say, that angle
Position between 0.09 ° and 0.18 °, and near 0.09 °.So it is believed that the Angle Position of motor is just at 0.09 °, only not
Cross and be partially worth for 0.014 °
Positional value typically (for segmenting further, typically also provides two-way with the pulse of 90 ° of a, b two-way phase
A*, b* signal) output increment value.If a phase advanced b phase when motor operates clockwise, on the contrary the advanced a phase of b phase.And the frequency of pulse
Become linear dependence with the rotating speed of motor.For example: if often enclosing 4000 pulses
Then its frequency f (hz) and the relation of motor speed n (rpm) are:
F=n*4000/60
During as n=60rpm, frequency f of P-pulse is 4khz.
The operation principle being somebody's turn to do is: compared to conventional techniques, the present invention is with low cost, strong antijamming capability, can apply
In complicated working environment；Can segment as needed, improve accuracy of detection as needed.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention
Within god and principle, any modification, equivalent substitution and improvement made etc., should be included within the scope of the present invention.
Claims (10)
1. it is used for the cosine and sine signal process circuit of speed and position feedback it is characterised in that including clock circuit, described clock
Circuit is connected with timer, and described timer is connected with addressed memory, and described addressed memory is connected with D/A converting circuit,
Described D/A converting circuit is connected with power amplifier, and described power amplifier is connected with rotary transformer, and described rotary transformer is even
Connect motor.
2. the cosine and sine signal process circuit for speed and position feedback according to claim 1 is it is characterised in that institute
State rotary transformer and be used for producing sinusoidal excitation signal for receiving the feedback signal of motor, described D/A converting circuit.
3. the cosine and sine signal process circuit for speed and position feedback according to claim 2 is it is characterised in that institute
The conversion time stating sinusoidal excitation signal is 0.5us, defines the amplitude of this sinusoidal signal and frequency is fixed, export electricity in the t0 moment
Pressure v0, in t1 moment output voltage v1 ... ..., in tn moment output voltage vn, produces one completely using n data output point
In 360 ° of cycle, the generation span of signal is 360 °/n.
4. the cosine and sine signal process circuit for speed and position feedback according to claim 3 is it is characterised in that work as
Motor rotate forward when, the feedback signal of the reception of rotary transformer, successively decrease in the amplitude of 90 °～270 ° of envelopes, 270 °～
Between 360 ° and 0 °～90 °, the amplitude of envelope is incremented by；And during motor reversal, then envelope amplitude respective regions change just
On the contrary.
5. the cosine and sine signal process circuit for speed and position feedback according to claim 4 is it is characterised in that root
According to maximum speed and operation individual pen time and the process requirements of motor, determine the actual speed of motor, according to main control loop
Needs, output it using the corresponding analog voltage of described D/A converting circuit.
6. the cosine and sine signal process circuit for speed and position feedback according to claim 5 is it is characterised in that root
Feedback signal according to motor determines its amplitude range, so that it is determined that its angular position value and angle are worth partially.
7. the cosine and sine signal process circuit for speed and position feedback according to claim 6 is it is characterised in that electricity
Machine positional value is determined with the output increment value of 90 ° of pulses of two-way phase contrast.
8. according to claim 6 for speed and position feedback cosine and sine signal process circuit it is characterised in that with
90 ° of pulses of two-way phase contrast include a phase and the b phase signals of two-way, the advanced b phase of a phase when motor is clockwise, otherwise b phase surpasses
Front a phase.
9. the cosine and sine signal process circuit for speed and position feedback according to claim 8 is it is characterised in that institute
State frequency f (hz) of rotary transformer and motor speed n (rpm): f=n*m/t, wherein m rotate the arteries and veins of a circle for rotor
Punching, t rotates a circle required time, unit ms for rotor.
10. according to claim 3 for speed and position feedback cosine and sine signal process circuit it is characterised in that
Described n value 480, the generation span of signal is 0.75 °.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610753968.0A CN106357172A (en) | 2016-08-29 | 2016-08-29 | Sine-cosine signal processing circuit for speed and positon feedback |
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| CN201610753968.0A CN106357172A (en) | 2016-08-29 | 2016-08-29 | Sine-cosine signal processing circuit for speed and positon feedback |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109443451A (en) * | 2018-12-27 | 2019-03-08 | 中国科学院宁波材料技术与工程研究所 | A kind of motor position speed detector |
| JP2021032849A (en) * | 2019-08-29 | 2021-03-01 | トヨタ自動車株式会社 | Resolver device |
| CN117833746A (en) * | 2022-09-27 | 2024-04-05 | 比亚迪股份有限公司 | Motor control method, motor control device, storage medium and motor controller |
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| DE10021503A1 (en) * | 2000-05-03 | 2001-11-15 | Fujitsu Siemens Computers Gmbh | Circuit for detecting pulses superimposed on direct voltage, has comparator receiving input signal, up/down counter receiving comparator output, digital-to-analog converter, evaluation device |
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| CN109443451A (en) * | 2018-12-27 | 2019-03-08 | 中国科学院宁波材料技术与工程研究所 | A kind of motor position speed detector |
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| CN117833746A (en) * | 2022-09-27 | 2024-04-05 | 比亚迪股份有限公司 | Motor control method, motor control device, storage medium and motor controller |
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