超小型矩阵编码器的研究
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摘要
光电编码器是一种角位移测量装置,它利用光电转换原理,将光信号转换成相应的电脉冲或数字量,从而定量输出角度值,具有体积小,精度高,工作可靠等优点。由于我国载人航天事业的发展,对轻型编码器的需求量不断增加,编码器向高精度、超小体积和智能化方向发展。但是,受传统编码器码盘刻划工艺和编码方法的限制,编码器的超小体积和高分辨力是一对不可调和的矛盾,而现有的超小型编码器都是通过在一定程度上降低编码器的精度来实现的。针对目前这种情况,提出了一种新型编码器——超小型绝对式矩阵编码器。
本文首先对绝对式光电编码器的编码原理进行了分析,采用格雷码的编码机制,提出了一种新型的矩阵编码方式,即通过刻划两圈矩阵码道进行12位矩阵编码,实现了编码器体积的超小化,其体积约为Φ30mm×15mm;并提出了增加光电读数头,以提高光学信号利用率的方法,实现了从循环二进制码到自然二进制码的转换。
其次,对超小型矩阵编码器的精码校正方法、细分方法和辨向方法进行了分析,提出了可行性方案,并在仿真电路中得以验证。
然后,对基于FPGA的数字译码系统进行了设计,通过器件选型和外围扩展电路设计,构建起基于FPGA的信号处理系统。通过FPGA的内部模块设计,实现了数字译码、FIFO (First Input First Output)和串口输出等功能。
最后,对编码器的测量误差进行了分析,并进行了实验,实验表明编码器分辨率达到了22位,精度达到了0.8”,实验数据与理论分析计算相符,达到了设计要求。该编码器突破了传统格雷码道的局限性,实现了矩阵编码器的超小化和高精密度测量,满足了航空航天、军事和纳米技术等特种行业对超小型编码器的需求。
Optical encoder is a kind of device used to measure the angular displacement; it converted the optical signal into electric pulse or digital quantity to achieve the angle output quantificationally. The encoder offered significant advantages over small cubage, high precision and reliable operation. Due to the requirement of light-duty encoder in manned space flight, the trend requires that encoder satisfies high-precision, super mini cubage and intelligentizing characteristic. However, the super mini cubage and high-precision is a pair of irreconcilable conflict under traditional reticle craftwork and encoding method. Therefore, current super miniaturization encoder was achieved by reducing the precision of encoder. To solve this problem, a new-style absolute matrix encoder was presented in the paper.
First of all, the encoding principle of absolute optical encoder was analyzed, and the Gray code was adopted for encoding. A new-style matrix encoder was presented which carried out 12-bit matrix encoding by reticling two circles, so the cubage is super-small and it can reachΦ30mm×15mm. The decoding method was achieved by increasing the number of photodiode and improving the utilization factor of optical signal.
Secondly, the issues about correction method of precise code、subdivision method and direction identification were analyzed, and a feasible scheme was produced, eventually it was validated in the simulation circuit.
Then the digital decoding system based on FPGA was designed, the signal processing system was constructed by selecting the chip and designing the exterior circuit. The inner module of PFGA actualized digital decode, first input first output, serial port output and etc.
Eventually, the measuring error of encoder was analyzed, the experiment showed that the resolution can reach 22-bit, and measuring precision can reach 0.8", the experiment data accords with theoretical calculation, it can satisfy the design requirement. The encoder breaks through the limitations of traditional gray code, and accomplishes the super miniaturization and high-precision, so it can satisfy the demands of manned space flight、military and nano technology to super miniaturization encoder.
本文首先对绝对式光电编码器的编码原理进行了分析,采用格雷码的编码机制,提出了一种新型的矩阵编码方式,即通过刻划两圈矩阵码道进行12位矩阵编码,实现了编码器体积的超小化,其体积约为Φ30mm×15mm;并提出了增加光电读数头,以提高光学信号利用率的方法,实现了从循环二进制码到自然二进制码的转换。
其次,对超小型矩阵编码器的精码校正方法、细分方法和辨向方法进行了分析,提出了可行性方案,并在仿真电路中得以验证。
然后,对基于FPGA的数字译码系统进行了设计,通过器件选型和外围扩展电路设计,构建起基于FPGA的信号处理系统。通过FPGA的内部模块设计,实现了数字译码、FIFO (First Input First Output)和串口输出等功能。
最后,对编码器的测量误差进行了分析,并进行了实验,实验表明编码器分辨率达到了22位,精度达到了0.8”,实验数据与理论分析计算相符,达到了设计要求。该编码器突破了传统格雷码道的局限性,实现了矩阵编码器的超小化和高精密度测量,满足了航空航天、军事和纳米技术等特种行业对超小型编码器的需求。
Optical encoder is a kind of device used to measure the angular displacement; it converted the optical signal into electric pulse or digital quantity to achieve the angle output quantificationally. The encoder offered significant advantages over small cubage, high precision and reliable operation. Due to the requirement of light-duty encoder in manned space flight, the trend requires that encoder satisfies high-precision, super mini cubage and intelligentizing characteristic. However, the super mini cubage and high-precision is a pair of irreconcilable conflict under traditional reticle craftwork and encoding method. Therefore, current super miniaturization encoder was achieved by reducing the precision of encoder. To solve this problem, a new-style absolute matrix encoder was presented in the paper.
First of all, the encoding principle of absolute optical encoder was analyzed, and the Gray code was adopted for encoding. A new-style matrix encoder was presented which carried out 12-bit matrix encoding by reticling two circles, so the cubage is super-small and it can reachΦ30mm×15mm. The decoding method was achieved by increasing the number of photodiode and improving the utilization factor of optical signal.
Secondly, the issues about correction method of precise code、subdivision method and direction identification were analyzed, and a feasible scheme was produced, eventually it was validated in the simulation circuit.
Then the digital decoding system based on FPGA was designed, the signal processing system was constructed by selecting the chip and designing the exterior circuit. The inner module of PFGA actualized digital decode, first input first output, serial port output and etc.
Eventually, the measuring error of encoder was analyzed, the experiment showed that the resolution can reach 22-bit, and measuring precision can reach 0.8", the experiment data accords with theoretical calculation, it can satisfy the design requirement. The encoder breaks through the limitations of traditional gray code, and accomplishes the super miniaturization and high-precision, so it can satisfy the demands of manned space flight、military and nano technology to super miniaturization encoder.
引文
[1]刘春宝.基于MCS-51单片机光电编码器细分系统的研究：[博士学位论文].长春：吉林大学,2008
[2]李鹏.基于FPGA的光电编码器的接口设计.电子科学,2009,3(5)：1-3
[3]Kyuwon Jeong, J. Park, Ji Sup Yoon. High-Precision encoder using moire fringe and neural network. Proc.SPIE,2001, Vol.4190,1-8
[4]Ellin, Alex, Dolsak, Gregor. The design and application of rotary encoders[J]. Sensor Review,2008, 28 (2):150-158
[5]贾雅琼,俞斌.基于FPGA的多路光电编码器数据采集系统.仪表技术与传感器,2008,6(3)：2-4
[6]杨鹏,艾华,刘长顺.超小型准绝对式编码器的研制.光电工程,2008,35(12)：1-2
[7]刘长顺,王显军,韩旭东,盖竹秋,王增发.八矩阵超小型绝对式光电编码器.光学精密工程,2010,18(2)：1-3
[8]Chen Yun, Research on Auto-controlled Liquid Crystal Light Valve Arrays as Photolithography Shutter. 6th ISTM,2005, Vol.1,833-838
[9]Yuji Matsuzoe, Tetsuya Saitoh, Toru Yoshizawa Optimization in optics design of encoder using interference fringe.Proc.SPIE,2002, Vol.4902,553-562
[10]叶盛祥.光电位移精密测量技术.四川科学技术出版社,2003：28-29
[11]MATSUZOE Y, KOIZUMI K, SAITOH T. Optimizing design of high-resolution optical encoder using a point-source light-emitting diode with slits[J]. Opto-Electronic Engineering,2005,44(1): 013609-1-013609-6
[12]曹振夫.260M光电轴角编码器结构与原理.光学精密工程,1995,3(5)：26-30
[13]郭亮.准绝对式光学编码器编译码原理的研究与实现：[硕士学位论文].西安：中国科学院西安光学精密机械研究所,2007
[14]赵志巍,陈赞.一种基于金属码盘的新型绝对式光电轴角编码器.传感技术学报,2010,23(5)：1-3
[15]Matsuzoe Yuji, Tsuji, Nobuhiko, et al High-performance absolute rotary encoder using multitrack and M—code [J]. Optical Engineering,2003,42(1):124-131
[16]陈贇.单圈绝对式光电轴角编码器原理的研究：[博士学位论文].长春：中国科学院长春光学精密机械与物理研究所,2006
[17]方艳辉.增量式编码器全数字量相加技术的研究：[硕士学位论文].长春：长春光学精密机械与物理研究所,2005
[18]王开军,姜宇博.面向CPLD/FPGA的VHDL设计.北京：机械工业出版社,2006年：22-25
[19]Walter Oney. Programming the Microsoft Windows Driver Model America:Microsoft Press,1999
[20]张广瑞,孙铁军,E洪希.FPGA在光电编码器数据采集系统中的应用.微计算机信息.2009,25(11)：1-3
[21]王阳.基于单码道绝对位置编码的光电式轴角编码器：[硕士学位论文].北京：北京交通大学,2006
[22]Douglas B.Leviton, Jeff Kirk, Luke Lobsinger. Ultra-high resolution Cartesian absolute optical encoder.Proc.SPIE,2003, Vol.5190, pp.111-121
[23]刘春宝.基于MCS-51单片机光电编码器细分系统的研究：[硕士学位论文].长春：吉林大学,2008
[24]Cypress Semiconductor Corporation. CY7C68013 EZ-USB FX2TM USB Microcontroller www.cypress.com 2002.
[25]王辉,殷颖,陈婷,俞一鸣Max+plus Ⅱ和Quartus Ⅱ应用与开发技巧.北京：机械工业出版社,2007年：208-213
[26]肖作江.24位绝对式光电轴角编码器的研究：[硕士学位论文].长春：长春理工大学,2004
[27]王英男.光电轴角编码器细分技术的研究：[硕士学位论文].杭州：浙江大学,2010
[28]曹振夫.小型绝对式矩阵编码器.光学精密工程,1985，7(5),2-3
[29]刘春阳.基于FPGA的串行通信实现与CRC校验：[硕士学位论文].北京：北京化工大学,2006
[30]张力Labview环境下的绝对式编码器角度测量仪的设计.三峡大学学报.宜昌：三峡大学,2009,31(2)：1-4
[31]吴少俊,房亮,闫蕾,刘彦民,宫水生.基于FPGA的串行通信协议的设计与实现.中国空间科学学会第七次学 术年会.北京：中国科学院光电研究院,2009：2-3
[32]王作斌.23位绝对式光电轴角编码器.传感器技术.1992,11(5)：1-2
[33]李英,游有鹏.FPGA的时钟频率同步设计.单片机与嵌入式应用.2009,8(12)：1-2
[34]段有为.FPGA设计中时钟设计的探讨.无线电工程.2007,37(5)：1-3
[35]苏海冰,刘恩海.单圈绝对式编码器的研制.光学精密工程.2002,10(1)：1-4
[36]陈贇,赵兴国.单圈绝对式光电轴角编码器的研究.光了学报.2008,37(2)：2-3
[37]卢新然,杜颖财,王树清,王树洁.高精度绝对式编码器Sinc函数知识光栅的研究.电子测量与仪器学报.2009,12(5)：2-4
[38]应卓瑜,梁坚,邵亮,叶秀清.基于CPLD的辨向细分电路设计.传感技术学报.2005,1(1)：2-3
[39]廖永忠,廖亦凡.基于FPGA的编码器信号处理的电路设计与实现.湖南第一师范学报.2007,7(2)：1-2
[40]Cyclone Device Handbook, Volume 1, Altera Corporation August,2007
[41]Yuji M, Nobuhiko T, Tomoharu N, et al High-performance absolute rotary encoder using multitrack and M-code. Opt Eng,2003,42(1),124-131
[42]李峥辉,于平,朴仁官,唐伟.基于FPGA的光电编码器信号采集与处理.测控技术.2009,28(9)：1-3
[43]冯希,梁雁冰,张涛.基于FPGA的多路增量式光电编码器测角电路设计方法.现代电子技术.2008,12(19)：1-2
[44]蒋丽雁,于连栋.基于FPGA的光栅信号处理电路设计.工具技术.2010,15(44)：2-3
[45]E3X-DA-S Series Digital Fiber Sensors instruction sheet [G]. OMRON Corporation Industrial Automation Company,2004
[46]Leviton Douglas B, Kirk Jeff, Lobsinger Luke. Ultra-high resolution Cartesion absolute optical encoder[J].SPIE,2003,5190:111-121
[47]K. Poon, A. Yan, and S. Wilton, "A flexible power model for FPGAs", in Proc.12th Int. Conf. Field-Programmable Logic and Applications, Montpellier, France, Sep 2002,312-321
[48]Designing Digital Signal Processing with FPGAs. Mentor Graphics. Feb 2003
[49]潘松,黄继业.EDA技术实用教程.北京：科学出版社,2006年：61-65
[50]Leviton, Douglas B, Kirk, Jeff, Lobsinger, Luke. Ultra-high resolution Cartesian absolute optical encoder.Proc.SPIE,2003, Vol.5190:111-121
[2]李鹏.基于FPGA的光电编码器的接口设计.电子科学,2009,3(5)：1-3
[3]Kyuwon Jeong, J. Park, Ji Sup Yoon. High-Precision encoder using moire fringe and neural network. Proc.SPIE,2001, Vol.4190,1-8
[4]Ellin, Alex, Dolsak, Gregor. The design and application of rotary encoders[J]. Sensor Review,2008, 28 (2):150-158
[5]贾雅琼,俞斌.基于FPGA的多路光电编码器数据采集系统.仪表技术与传感器,2008,6(3)：2-4
[6]杨鹏,艾华,刘长顺.超小型准绝对式编码器的研制.光电工程,2008,35(12)：1-2
[7]刘长顺,王显军,韩旭东,盖竹秋,王增发.八矩阵超小型绝对式光电编码器.光学精密工程,2010,18(2)：1-3
[8]Chen Yun, Research on Auto-controlled Liquid Crystal Light Valve Arrays as Photolithography Shutter. 6th ISTM,2005, Vol.1,833-838
[9]Yuji Matsuzoe, Tetsuya Saitoh, Toru Yoshizawa Optimization in optics design of encoder using interference fringe.Proc.SPIE,2002, Vol.4902,553-562
[10]叶盛祥.光电位移精密测量技术.四川科学技术出版社,2003：28-29
[11]MATSUZOE Y, KOIZUMI K, SAITOH T. Optimizing design of high-resolution optical encoder using a point-source light-emitting diode with slits[J]. Opto-Electronic Engineering,2005,44(1): 013609-1-013609-6
[12]曹振夫.260M光电轴角编码器结构与原理.光学精密工程,1995,3(5)：26-30
[13]郭亮.准绝对式光学编码器编译码原理的研究与实现：[硕士学位论文].西安：中国科学院西安光学精密机械研究所,2007
[14]赵志巍,陈赞.一种基于金属码盘的新型绝对式光电轴角编码器.传感技术学报,2010,23(5)：1-3
[15]Matsuzoe Yuji, Tsuji, Nobuhiko, et al High-performance absolute rotary encoder using multitrack and M—code [J]. Optical Engineering,2003,42(1):124-131
[16]陈贇.单圈绝对式光电轴角编码器原理的研究：[博士学位论文].长春：中国科学院长春光学精密机械与物理研究所,2006
[17]方艳辉.增量式编码器全数字量相加技术的研究：[硕士学位论文].长春：长春光学精密机械与物理研究所,2005
[18]王开军,姜宇博.面向CPLD/FPGA的VHDL设计.北京：机械工业出版社,2006年：22-25
[19]Walter Oney. Programming the Microsoft Windows Driver Model America:Microsoft Press,1999
[20]张广瑞,孙铁军,E洪希.FPGA在光电编码器数据采集系统中的应用.微计算机信息.2009,25(11)：1-3
[21]王阳.基于单码道绝对位置编码的光电式轴角编码器：[硕士学位论文].北京：北京交通大学,2006
[22]Douglas B.Leviton, Jeff Kirk, Luke Lobsinger. Ultra-high resolution Cartesian absolute optical encoder.Proc.SPIE,2003, Vol.5190, pp.111-121
[23]刘春宝.基于MCS-51单片机光电编码器细分系统的研究：[硕士学位论文].长春：吉林大学,2008
[24]Cypress Semiconductor Corporation. CY7C68013 EZ-USB FX2TM USB Microcontroller www.cypress.com 2002.
[25]王辉,殷颖,陈婷,俞一鸣Max+plus Ⅱ和Quartus Ⅱ应用与开发技巧.北京：机械工业出版社,2007年：208-213
[26]肖作江.24位绝对式光电轴角编码器的研究：[硕士学位论文].长春：长春理工大学,2004
[27]王英男.光电轴角编码器细分技术的研究：[硕士学位论文].杭州：浙江大学,2010
[28]曹振夫.小型绝对式矩阵编码器.光学精密工程,1985，7(5),2-3
[29]刘春阳.基于FPGA的串行通信实现与CRC校验：[硕士学位论文].北京：北京化工大学,2006
[30]张力Labview环境下的绝对式编码器角度测量仪的设计.三峡大学学报.宜昌：三峡大学,2009,31(2)：1-4
[31]吴少俊,房亮,闫蕾,刘彦民,宫水生.基于FPGA的串行通信协议的设计与实现.中国空间科学学会第七次学 术年会.北京：中国科学院光电研究院,2009：2-3
[32]王作斌.23位绝对式光电轴角编码器.传感器技术.1992,11(5)：1-2
[33]李英,游有鹏.FPGA的时钟频率同步设计.单片机与嵌入式应用.2009,8(12)：1-2
[34]段有为.FPGA设计中时钟设计的探讨.无线电工程.2007,37(5)：1-3
[35]苏海冰,刘恩海.单圈绝对式编码器的研制.光学精密工程.2002,10(1)：1-4
[36]陈贇,赵兴国.单圈绝对式光电轴角编码器的研究.光了学报.2008,37(2)：2-3
[37]卢新然,杜颖财,王树清,王树洁.高精度绝对式编码器Sinc函数知识光栅的研究.电子测量与仪器学报.2009,12(5)：2-4
[38]应卓瑜,梁坚,邵亮,叶秀清.基于CPLD的辨向细分电路设计.传感技术学报.2005,1(1)：2-3
[39]廖永忠,廖亦凡.基于FPGA的编码器信号处理的电路设计与实现.湖南第一师范学报.2007,7(2)：1-2
[40]Cyclone Device Handbook, Volume 1, Altera Corporation August,2007
[41]Yuji M, Nobuhiko T, Tomoharu N, et al High-performance absolute rotary encoder using multitrack and M-code. Opt Eng,2003,42(1),124-131
[42]李峥辉,于平,朴仁官,唐伟.基于FPGA的光电编码器信号采集与处理.测控技术.2009,28(9)：1-3
[43]冯希,梁雁冰,张涛.基于FPGA的多路增量式光电编码器测角电路设计方法.现代电子技术.2008,12(19)：1-2
[44]蒋丽雁,于连栋.基于FPGA的光栅信号处理电路设计.工具技术.2010,15(44)：2-3
[45]E3X-DA-S Series Digital Fiber Sensors instruction sheet [G]. OMRON Corporation Industrial Automation Company,2004
[46]Leviton Douglas B, Kirk Jeff, Lobsinger Luke. Ultra-high resolution Cartesion absolute optical encoder[J].SPIE,2003,5190:111-121
[47]K. Poon, A. Yan, and S. Wilton, "A flexible power model for FPGAs", in Proc.12th Int. Conf. Field-Programmable Logic and Applications, Montpellier, France, Sep 2002,312-321
[48]Designing Digital Signal Processing with FPGAs. Mentor Graphics. Feb 2003
[49]潘松,黄继业.EDA技术实用教程.北京：科学出版社,2006年：61-65
[50]Leviton, Douglas B, Kirk, Jeff, Lobsinger, Luke. Ultra-high resolution Cartesian absolute optical encoder.Proc.SPIE,2003, Vol.5190:111-121