CN101251391A - Photoelectricity shaft position encoder signal amplitude and phase self-compensation circuit - Google Patents
Photoelectricity shaft position encoder signal amplitude and phase self-compensation circuit Download PDFInfo
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- CN101251391A CN101251391A CNA2008100505829A CN200810050582A CN101251391A CN 101251391 A CN101251391 A CN 101251391A CN A2008100505829 A CNA2008100505829 A CN A2008100505829A CN 200810050582 A CN200810050582 A CN 200810050582A CN 101251391 A CN101251391 A CN 101251391A
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Abstract
The invention provides an amplitude value and phase automatic compensation circuit for an optical-electric axial angle encoder signal belonging to the optical-electric detection technical field and relating to an optical-electric signal compensation circuit. The technical problem to be solved is to provide the amplitude value and phase automatic compensation circuit for the optical electric axial angle encoder signal. The technical proposal which solves the problem comprises a first and a second variable gain difference amplifying circuit, a peak detection circuit, a phase-locked loop and an Arm processor; the output ends of a first and a second potentiometer are connected with the input end of the first variable gain difference amplifying circuit; the output ends of a third and a fourth potentiometer are connected with the input end of the second variable gain difference amplifying circuit; the output ends of the first and the second variable gain difference amplifying circuit are connected with a latch and the peak detection circuit; the output end of the second variable gain difference amplifying circuit is connected with the phase-locked loop; the output ends of the latch, the peak detection circuit and the phase-locked loop are all connected with the Arm processor; the Arm processor is respectively connected with the first and the second variable gain difference amplifying circuit.
Description
Technical field
The invention belongs to the amplitude and the phase compensating circuit of a kind of optical electric axial angle encoder photosignal that relates in the photoelectric detection technology field.
Background technology
The high precision photoelectric shaft-position encoder is present widely used Precise Angular Displacement Sensor.Because photoelectric device itself is comparatively responsive to environment temperature, when variation of ambient temperature big or through long-term deposit and use after, bigger change can take place in the amplitude of scrambler photosignal, experimental results show that, the signal amplitude of output 1.1 times when being about normal temperature (+20 ℃) in the time of+60 ℃, and when the amplitude of output signal is normal temperature-60 ℃ time the 0.7 times, amplitude change rate is up to 40%.And the photosignal amplitude is one of key factor that influences the shaft-position encoder precision.The orthogonality of photosignal also can be subjected to environment and the influence of debuging technology, has influenced the output accuracy of scrambler.Therefore, the stability of assurance optical electric axial angle encoder photosignal amplitude and phase relation is the topic that the insider extremely is concerned about.
In existing technology, the prior art the most approaching with the present invention is the shaft-position encoder electronics sub-circuit that Chinese Academy of Sciences's Changchun optics secret machinery and physics Institute develop, as shown in Figure 1, comprise adjustable potential meter 1, adjustable potential meter 2, adjustable potential meter 3, adjustable potential meter 4, first differential amplifier, 5, the second differential amplifiers 6 and latch 7 and single-chip microcomputer 8.Wherein, 0 ° of signal and 180 ° of signals amplify formation Sin road signal through entering first differential amplifier 5 behind adjustable potential meter 1 and the adjustable potential meter 2 respectively; 90 ° of signals and 270 ° of signals amplify formation Cos road signal through entering second differential amplifier 6 behind adjustable potential meter 3 and the adjustable potential meter 4 respectively; Two paths of signals directly enters the single-chip microcomputer 8 that is integrated with the A/D function and segments after latching through latch 7.
When variation of ambient temperature, the scrambler photoemissive device changes with the parameter of accepting device, makes the photosignal amplitude change thereupon, has influenced the angle measurement accuracy of high-precision encoder.In order to guarantee the angle measurement accuracy of scrambler under different temperatures, the way that 0 ° of signal, 180 ° of signals, 90 ° of signals, 270 ° of signal adjustable potential meter 1-4 are regulated in common employing is manually adjusted the amplitude of segmentation signal, to compensate the amplitude error that produces owing to temperature.This method needs the professional to operate, and at the bottom of the efficient, wastes time and energy, and can not satisfy under the field condition requirement to the product operation and maintenance.In addition, because the phase relation of signal requires very strict, this not only brings very big difficulty for debuging of scrambler, and in case in the middle of use phase relation have small change just must be by the professional to the physical construction of scrambler from newly adjusting, had a strong impact on the use of scrambler.
Summary of the invention
In order to overcome the defective of prior art, the objective of the invention is to solve the photosignal amplitude and change the phenomenon that changes owing to environment temperature, the phase relation that simultaneously can also regulate the scrambler photosignal improves the signal in orthogonal of scrambler, thereby reduces resetting difficulty.
The technical problem to be solved in the present invention is that a kind of photoelectricity shaft position encoder signal amplitude and phase self-compensation circuit are provided.
The technical scheme of technical solution problem comprises that first pot 10, second pot 11, the 3rd pot 12, the 4th pot 13, the first variable-gain differential amplifying circuit 14, the second variable-gain differential amplifying circuit 15, latch 16, peak detection circuit 17, phaselocked loop 18 and Arm place bury device 19 as shown in Figure 2.
The output terminal of the output terminal of first pot 10 that links to each other with 0 ° of signal and second pot 11 that links to each other with 180 ° of signals is connected with the input end of the first variable-gain differential amplifying circuit 14 respectively, enter the first variable-gain differential amplifying circuit 14 after making 0 ° of signal and 180 ° of signals change voltage signal into, amplify formation Sin road, back signal through difference through first pot 10 and second pot 11; The output terminal of the output terminal of the 3rd pot 12 that links to each other with 90 ° of signals and the 4th pot 13 that links to each other with 270 ° of signals is connected with the input end of the second variable-gain differential amplifying circuit 15 respectively, enter the second variable-gain differential amplifying circuit 15 after making 90 ° of signals and 270 ° of signals change voltage signal into, amplify formation Cos road, back signal through difference through the 3rd pot 12 and the 4th pot 13.The output terminal of the first variable-gain differential amplifying circuit 14 and the second variable-gain differential amplifying circuit 15 is connected with the input end of latch 16 respectively, also be connected with the input end of peak detection circuit 17 respectively simultaneously, in addition, the output terminal of the second variable-gain differential amplifying circuit 15 is connected with phaselocked loop 18, making Sin road signal and Cos road signal enter latch 16 latchs, and enter peak detection circuit 17 simultaneously, and Cos road signal enters phaselocked loop 18 and carries out phase locking frequency multiplying.The output terminal of latch 16, peak detection circuit 17, phaselocked loop 18 all is connected with Arm processor 19, utilizes 19 pairs of signals of Arm processor to handle.The output terminal of Arm processor 19 is connected with the second variable-gain differential amplifying circuit 15 with the first variable-gain differential amplifying circuit 14 respectively, promptly utilizes 19 pairs of two variable-gain differential amplifying circuits of Arm processor to control.Wherein, peak detection circuit 17 is used to detect the peak value of two paths of signals; Phaselocked loop 18 is used for Cos road signal is carried out the semaphore lock frequency multiplication, and as trigger pip Sin road signal and Cos road signal is carried out the A/D conversion, after the analog quantity digitizing, carries out phase-detection and compensation.
In amplitude compensation, after Arm processor 19 detects amplitude, this amplitude is compared with the standard amplitude, constantly revise the enlargement factor of the first variable-gain differential amplifying circuit 14 and the second variable-gain differential amplifying circuit 15, signal amplitude is met the demands; In phase compensation, adopt in detected state the thinking of compensate in detected phase deviation → storage phase deviation → real work, compensate this error in detected state, detecting after the phase error in working order.
The principle of work of circuit is: the first variable-gain differential amplifying circuit 14 and the second variable-gain differential amplifying circuit 15 carry out difference to each road signal respectively and amplify, and obtain Sin road signal and Cos road signal.In the signal amplitude detection compensation process, 17 pairs of two paths of signals of peak detection circuit carry out peak value and detect, the peak value of detected two paths of signals is sent in the Arm processor 19 that is integrated with A/D converter spare, Arm processor 19 is by certain algorithm, feedback quantity is sent in the first variable-gain differential amplifying circuit 14 and the second variable-gain differential amplifying circuit 15, change the enlargement factor of two differential amplifier circuits, make the signal amplitude of two paths of signals amplitude and standard meet more, constantly repeat this process, make the amplitude of two paths of signals reach standard-required at last, thereby finish the amplitude compensation process of signal; In the phase-detection process, (the same with the frequency of Cos road signal by 18 pairs of Cos roads of phaselocked loop because of the Sin road, so also can be the Sin road) signal carries out frequency multiplication, 100 frequencys multiplication for example, with this sampled signal as 19 pairs of two paths of signals of Arm processor, by certain algorithm, calculate the phase deviation of two paths of signals, in the segmentation course of work, the subdivision error that causes owing to phase deviation is carried out software compensation then.
In amplitude compensation, the most important thing is the precision of amplitude detection circuit, the synoptic diagram of peak detection circuit 17 is as shown in Figure 3.Signal is entered by input end, just can directly obtain signal peak value within a certain period of time from output terminal, chooses suitable electric capacity and resistance, can obtain the peak value of optical electric axial angle encoder photosignal accurately.
The software flow of amplitude compensation as shown in Figure 4.In the middle of the amplitude compensation subroutine, Arm processor 19 is converted to the actual magnitude value of signal by A/D, signal amplitude value with standard compares then, if difference does not meet the demands, 19 pairs of two variable-gain differential amplifying circuits 14 and 15 of Arm processor are regulated.Repeat this process, make last actual signal amplitude and standard signal amplitude basically identical, thereby finish amplitude compensation.
Phase compensation is undertaken by mode shown in Figure 5, and whole process is divided into phase-detection state and work compensating coefficient.In the phase-detection state, Sin road and Cos two paths of signals enter in the Arm processor 19 that is integrated with A/D converter spare repeatedly sample (the present invention samples 100 times) in a signal period under the sample-synchronous signal that phaselocked loop 18 provides, and sampled value is stored in the Arm processor 19.The value of 100 samplings of 19 pairs of two paths of signals of Arm processor gained is done the computing of certain algorithm, can obtain the digital baseband input signal of two paths of signals, and store in the Arm processor 19; In the work compensating coefficient, software at first utilizes the digital baseband input signal that is stored in the Arm processor 19 to the compensation that adjusts of the actual sample value of Sin signal and Cos road signal, utilize this actual sample value of adjusting the two paths of signals value replacement two paths of signals after compensating to enter in the scrambler segmentation program then and segment computing, promptly can reduce the scrambler subdivision error that brings by phase deviation.
Wherein, the computing method of phase differential are that 100 sampled values of two paths of signals in each comfortable signal period are carried out dot-product operation, and its operation result is proportional in the phase deviation of two paths of signals, can get the phase deviation of two paths of signals thus; The compensation of phase deviation is to utilize to detect and be stored in phase deviation in the Arm processor 19 in the phase-detection state, according to the Taylor series expansion theorem, wherein one tunnel (the present invention uses the Cos road) in the two paths of signals carried out Taylor series expansion, obtain can with other one road signal (the Sin road among the present invention) value of the signal of quadrature mutually, utilize this value to replace actual Cos road signal sampling value and participate in scrambler segmentation computing, thereby the orthogonality of two paths of signals is improved with Sin road signal sampling value.
Good effect of the present invention is: through this hardware and software compensation process, make that the amplitude of Sin and Cos road signal is basic consistent with the software set value, its phase relation quality is greatly improved before the compensation, guarantee the stability of photosignal amplitude and phase relation under the varying environment temperature conditions, guaranteed the angle measurement accuracy of high precise shaft-angle scrambler.
Description of drawings
Fig. 1: the scrambler photosignal electronics sub-circuit structural representation of prior art;
Fig. 2: electronics sub-circuit structural representation of the present invention;
Fig. 3: peak detection circuit 17 structural representations;
Fig. 4: amplitude detects the compensation software process flow diagram in the circuit working principle explanation of the present invention;
Fig. 5: phase-detection compensation method synoptic diagram in the circuit working principle explanation of the present invention;
Specific embodiments
The present invention implements by circuit structure shown in Figure 2, and wherein first pot 10, second pot 11, the 3rd pot 12, the 4th pot 13 adopt the 722C0 pot of same size; Arm processor 19 adopts the philips Arm7 of company family chip LPC2131; The first variable-gain differential amplifying circuit 14 and the second variable-gain differential amplifying circuit 15 are made up of high speed amplifier OPA2227 and controlled digital potentiometer AD5254; Peak detection circuit 17 is built by integrated transporting discharging LM324 and resistance capacitance and diode, as shown in Figure 3; Phaselocked loop 18 is made up of integrated phase lock chip CD4046 and BCD counting chip CD4518.
Claims (1)
1. photoelectricity shaft position encoder signal amplitude and phase self-compensation circuit, comprise pot, latch, it is characterized in that also comprising the first variable-gain differential amplifying circuit (14), the second variable-gain differential amplifying circuit (15), peak detection circuit (17), phaselocked loop (18) and Arm processor (19); The output terminal of the output terminal of first pot (10) that links to each other with 0 ° of signal and second pot (11) that links to each other with 180 ° of signals is connected with the input end of the first variable-gain differential amplifying circuit (14) respectively; The output terminal of the output terminal of the 3rd pot (12) that links to each other with 90 ° of signals and the 4th pot (13) that links to each other with 270 ° of signals is connected with the input end of the second variable-gain differential amplifying circuit (15) respectively; The output terminal of the first variable-gain differential amplifying circuit (14) and the second variable-gain differential amplifying circuit (15) is connected with the input end of latch (16) respectively, also be connected with the input end of peak detection circuit (17) respectively simultaneously, in addition, the output terminal of the second variable-gain differential amplifying circuit (15) is connected with phaselocked loop (18); The output terminal of latch (16), peak detection circuit (17), phaselocked loop (18) all is connected with Arm processor (19); The output terminal of Arm processor (19) is connected with the second variable-gain differential amplifying circuit (15) with the first variable-gain differential amplifying circuit (14) respectively.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2008100505829A CN101251391A (en) | 2008-04-10 | 2008-04-10 | Photoelectricity shaft position encoder signal amplitude and phase self-compensation circuit |
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| CNA2008100505829A CN101251391A (en) | 2008-04-10 | 2008-04-10 | Photoelectricity shaft position encoder signal amplitude and phase self-compensation circuit |
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| CNA2008100505829A Pending CN101251391A (en) | 2008-04-10 | 2008-04-10 | Photoelectricity shaft position encoder signal amplitude and phase self-compensation circuit |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102893132A (en) * | 2010-03-31 | 2013-01-23 | 罗伯特·博世有限公司 | A device and a method for processing signals which represent an angular position of a motor shaft |
| CN114858062A (en) * | 2022-06-13 | 2022-08-05 | 探维科技(北京)有限公司 | Detection signal processing method, device, medium, equipment and grating ruler |
-
2008
- 2008-04-10 CN CNA2008100505829A patent/CN101251391A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102893132A (en) * | 2010-03-31 | 2013-01-23 | 罗伯特·博世有限公司 | A device and a method for processing signals which represent an angular position of a motor shaft |
| CN102893132B (en) * | 2010-03-31 | 2015-05-20 | 罗伯特·博世有限公司 | A device and a method for processing signals which represent an angular position of a motor shaft |
| US9599453B2 (en) | 2010-03-31 | 2017-03-21 | Robert Bosch Gmbh | Device and method for processing signals which represent an angular position of a motor shaft |
| CN114858062A (en) * | 2022-06-13 | 2022-08-05 | 探维科技(北京)有限公司 | Detection signal processing method, device, medium, equipment and grating ruler |
| CN114858062B (en) * | 2022-06-13 | 2022-09-16 | 探维科技(北京)有限公司 | Detection signal processing method, device, medium, equipment and grating ruler |
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Open date: 20080827 |