基于双码道绝对位置编码的光电式轴角编码器
|
摘要
随着制造业和自动化技术的迅速发展,光电编码器作为一种融合数字技术和计算机技术的数字式传感器已经被广泛地应用于生活和生产中。近年来,光电编码器的小型化和高精度标准对传统的编码理论提出了挑战。研究新的编码理论开发新式码盘,应用先进电子技术研制小型化高精度的绝对式编码器已成为编码器的发展趋势之一。
本课题研究基于双码道绝对位置编码的新型绝对式光电编码系统。这类基于双码道的绝对位置编码器可根据光电元件的阅读位置分为双码道均布式绝对位置编码器和双码道非均布式绝对位置编码器。
本文提出了两种新型双码道绝对位置编码的合成方法。利用8组光电元件的7位字长单码道均布式绝对位置编码和4位字长矩阵码可方便、准确地合成11位双码道均布式绝对位置编码,利用6位字长单码道非均布式绝对位置编码可合成12位字长双码道非均布式绝对位置编码。使用双码道绝对位置编码的码盘,内外两圈码道配合读取绝对位置信息,大大节约了读码器件所占的空间,避免了开发高位单码道编码的困难,且具有格雷码的无粗误差的特点,有利于小型化和降低成本。
11位字长双码道均布式绝对编码器主要是针对电梯门机系统设计的,可替代目前广泛使用的增量式编码器测定电梯门的位置,构成位置闭环控制,并且可以根据现场实际需要方便地设定零位,在整个电梯系统联调中可以显著节省时间和人工。12位字长双码道非均布式绝对编码器在码盘转动一周内输出3600个绝对位置信息,可实现按照圆周角度的等分。两种编码器各有不同的优点,适用于不同的工程范畴,可根据实际情况进行选用。
双码道绝对位置编码克服了传统位置编码随精度提高而码道增多,工艺上不易实现的缺点,可缩减码盘的尺度,为绝对位置角度传感器的高精度、小型化、集成化开辟了一条新的途径。
With the development of manufacture and auto-technology, encoders, the combination of digital and computer technology, have been widely applied into practice. Recent years, the miniature encoders have made challenges to the traditional ones. It seems that the study of new coding theory, the invention of new types of coding disk, and the using of advanced electronic technology in development of new absolute photoelectric encoders have been a tendency in the future.
This paper, absolute encoder based on double track, is focused on the study of new absolute electronic coding system. According to reading position of photoelectric elements, it can be categorized into the double track absolute encoder with uniformly distributed probes and the double track absolute encoder with non-uniformly distributed probes.
This paper puts forwards the generation of the two new absolute angular encoders. By a specially designed 7 bit encoding track and a 4 bit matrix encoding track, an absolute 11 bit double track encoding disk can be composed easily and accurately. Combining two 6 bit encoding tracks with non-uniformly distributed probes, an absolute 12 bit double track encoding disc can be composed. Reading probes are distributed on two circles separately, so that space can be saved significantly. Difficulties of design for high rank single track absolute encoding are avoided and there is no cursory error. So it is in favor of miniaturization and reducing cost.
The 11 bit double track absolute encoder is designed for elevator, so that incremental encoders which are used widely can be replaced. Close loop position control is realized. The design also includes an electronically clearing function to completely meet various application situations of the encoder, so that time and manpower can be saved significantly in system debugging. The 12 bit double track absolute encoder exports 3600 absolute position information, and it realizes equation of circle angle. These two codes respectively have different advantages and can be applied to different range of projects.
The double track absolute angular encoder overcomes the disadvantage of increasing the accuracy at the expense of more tracks and difficulties of fabrication. Therefore, it establishes a new approach for the high-accuracy and the miniaturization of the absolute angular encoder.
本课题研究基于双码道绝对位置编码的新型绝对式光电编码系统。这类基于双码道的绝对位置编码器可根据光电元件的阅读位置分为双码道均布式绝对位置编码器和双码道非均布式绝对位置编码器。
本文提出了两种新型双码道绝对位置编码的合成方法。利用8组光电元件的7位字长单码道均布式绝对位置编码和4位字长矩阵码可方便、准确地合成11位双码道均布式绝对位置编码,利用6位字长单码道非均布式绝对位置编码可合成12位字长双码道非均布式绝对位置编码。使用双码道绝对位置编码的码盘,内外两圈码道配合读取绝对位置信息,大大节约了读码器件所占的空间,避免了开发高位单码道编码的困难,且具有格雷码的无粗误差的特点,有利于小型化和降低成本。
11位字长双码道均布式绝对编码器主要是针对电梯门机系统设计的,可替代目前广泛使用的增量式编码器测定电梯门的位置,构成位置闭环控制,并且可以根据现场实际需要方便地设定零位,在整个电梯系统联调中可以显著节省时间和人工。12位字长双码道非均布式绝对编码器在码盘转动一周内输出3600个绝对位置信息,可实现按照圆周角度的等分。两种编码器各有不同的优点,适用于不同的工程范畴,可根据实际情况进行选用。
双码道绝对位置编码克服了传统位置编码随精度提高而码道增多,工艺上不易实现的缺点,可缩减码盘的尺度,为绝对位置角度传感器的高精度、小型化、集成化开辟了一条新的途径。
With the development of manufacture and auto-technology, encoders, the combination of digital and computer technology, have been widely applied into practice. Recent years, the miniature encoders have made challenges to the traditional ones. It seems that the study of new coding theory, the invention of new types of coding disk, and the using of advanced electronic technology in development of new absolute photoelectric encoders have been a tendency in the future.
This paper, absolute encoder based on double track, is focused on the study of new absolute electronic coding system. According to reading position of photoelectric elements, it can be categorized into the double track absolute encoder with uniformly distributed probes and the double track absolute encoder with non-uniformly distributed probes.
This paper puts forwards the generation of the two new absolute angular encoders. By a specially designed 7 bit encoding track and a 4 bit matrix encoding track, an absolute 11 bit double track encoding disk can be composed easily and accurately. Combining two 6 bit encoding tracks with non-uniformly distributed probes, an absolute 12 bit double track encoding disc can be composed. Reading probes are distributed on two circles separately, so that space can be saved significantly. Difficulties of design for high rank single track absolute encoding are avoided and there is no cursory error. So it is in favor of miniaturization and reducing cost.
The 11 bit double track absolute encoder is designed for elevator, so that incremental encoders which are used widely can be replaced. Close loop position control is realized. The design also includes an electronically clearing function to completely meet various application situations of the encoder, so that time and manpower can be saved significantly in system debugging. The 12 bit double track absolute encoder exports 3600 absolute position information, and it realizes equation of circle angle. These two codes respectively have different advantages and can be applied to different range of projects.
The double track absolute angular encoder overcomes the disadvantage of increasing the accuracy at the expense of more tracks and difficulties of fabrication. Therefore, it establishes a new approach for the high-accuracy and the miniaturization of the absolute angular encoder.
引文
[1]王晓明.电动机的单片机控制[M].北京.北京航空航天大学出版社.2003.206-210
[2]张善钟.计量光栅技术[M].北京.机械工业出版社.1985.178-225
[3]赵志诚.传感器的科技攻关与技术发展[J].仪表技术与传感器.1997.(1).7-12
[4]李谋.位置检测与数显技术[M].北京.机械工业出版社.1993.25-30
[5]祝绍箕.光栅数字显示技术及其应用[M].北京.机械工业出版社.1992.57-65
[6]樊尚春.传感器技术及应用[M].北京.北京航空航天大学出版社.2004.27-30
[7]郁有文.单道绝对式光电轴角编码器[J].南京师范大学学报.2003.3(1).34-37
[8]陈赟.单圈绝对式码盘的研制[J].测量技术.2007.7.31-33
[9]汤天瑾等.光电轴角编码器发展现状分析及展望[J].光学仪器.2005.27(1).90-95
[10]耿丽红等.高分辨力光电轴角编码器分辨力和精度的检测[J].工具技术.1996.(9).36-38
[11]艾华.单光栅计量系统的研究[A].全国第二届机器人学术论文集[C].1989
[12]喻洪麟.小型高分辨率光电编码器现状与展望[J].现代计量测试.996.(5).4-6
[13]Mancini Dario,Cascone Enrico,Schipani Pietro.Galileo high-resolution encoder system[C].SPIE.1997.3112.328-334
[14]#12
[15]#12
[16]刘丰文,邓文和.25位绝对式编码器[J].光电工程.2000.27(6).66-68
[17]董莉莉,熊经武,万秋华.光电轴角编码器的发展动态[J].光学精密工程.2000.8(2).198-202
[18]曹向群,黄维实.莫尔技术的现状和展望[J].光电工程.1990.(2).48-56
[19]B.Culshaw,J.Dakin.李少慧,宁雅农译.光纤传感器[M].武汉.华中理工大学出版社。1997
[20]张建民.传感器与检测技术[M].北京.机械工业出版社.2000.27-29
[21]赵负图.光电检测控制电路手册[M].北京.化学工业出版社.2001
[22]马宏.精密刻划工艺.北京.兵器工业出版社.1994.179-183
[23]于萍,赵志巍.一种采用三圈码道输出十三位码的绝对式矩阵编码盘[P].中国.CN1542532A.2004
[24]赵志巍.一种具有十位粗码道的绝对式矩阵编码盘[P].中国.CN1538232A.2004
[25]曹振夫.绝对式光电编码尺[P].中国.CN2596322Y.2003
[26]今井,基胜.位置、角度传感器的市场动向[J].日本新型传感器及其应用汇编.1994.(1).10-17
[27]高宏越.绝对旋转编码器[J].机床电器.1997.4.20-22
[28]CoreTech Corporation.CoreTech Encoder DRS60/DRS61 ARS60.Rev.1.0.Aug.2008
[29]熊经武,万秋华.23位绝对式光电轴角编码器[J].光学机械.1990.(2).52-60
[30]Yeh Wei-Hung et al.High-resolution optical shaft encoder for motor speed control based on an optical disk pick-up[J].American Institute of Physics.1998.69.3068-3071
[31]曹振夫.小型绝对式矩阵编码器.光学机械.1985.5.65-70
[32]Toshitsugu U,Fusao K,Toshio I.Optical absolute encoder using spatial filter.SPIE.1987.814.217-221
[33]Fusao K,Toshio I,Kunio K.Multiturn absolute encoder using spatial filter.JSME International Journal.1990.33(1).94-99
[34]金轸裕.日本编码器的动向.计量技术[J].1997.(2).2-5
[35]郁有文,常健.绝对码编码器中一种新型的编码方法.仪器仪表学报.2004.25(4).541-544
[36]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).74-78
[37]Alain P.Hiltgen,Kenneth G.Paterson,Marco Brandestini.Single-Track Gray Codes[J].IEEE Transactions on Information Theory.1996.42(5).1555-1561
[38]邱成,王阳,朱衡君.基于卡诺图的均布式绝对位置编码[J].仪器仪表学报.2007.28(6).1080-1086
[39]陈赟.单圈绝对式码盘的研制[J].测量技术.2007.7-31-33
[40]ZHANG Fan,ZHU Heng-jun.Determination of optimal period of absolute encoders with Single track cyclic gray code.J.Cent.South Univ.Technol.2008.15(s2).362-366
[41]孔智勇,赵红颖,熊文卓.采用衍射、干涉技术提高光电轴角编码器的测角精度和分辨力[J].光学精密工程.2001.9.260-265
[42]王贵甫.激光干涉仪数字测角的新方法及应用[J].光学精密工程.2001.9(1).85-88
[43]龚树萍,张菲.非易失性并行存储器的应用.电子元器件应用[M].2002.4(10).7-11
[44]Ramtron International Corporation.FM1110 Nonvolatile 5V Quad State Saver.Rev.1.0.Aug.2007
[45]赵静,葛斌,宋晓琨.CT54/74LS161芯片的应用.大连大学学报[J].2000.21(4).35-41
[46]左森.RS-485低功耗收发器MAX485E.电子世界[J].2002.2.41-42
[2]张善钟.计量光栅技术[M].北京.机械工业出版社.1985.178-225
[3]赵志诚.传感器的科技攻关与技术发展[J].仪表技术与传感器.1997.(1).7-12
[4]李谋.位置检测与数显技术[M].北京.机械工业出版社.1993.25-30
[5]祝绍箕.光栅数字显示技术及其应用[M].北京.机械工业出版社.1992.57-65
[6]樊尚春.传感器技术及应用[M].北京.北京航空航天大学出版社.2004.27-30
[7]郁有文.单道绝对式光电轴角编码器[J].南京师范大学学报.2003.3(1).34-37
[8]陈赟.单圈绝对式码盘的研制[J].测量技术.2007.7.31-33
[9]汤天瑾等.光电轴角编码器发展现状分析及展望[J].光学仪器.2005.27(1).90-95
[10]耿丽红等.高分辨力光电轴角编码器分辨力和精度的检测[J].工具技术.1996.(9).36-38
[11]艾华.单光栅计量系统的研究[A].全国第二届机器人学术论文集[C].1989
[12]喻洪麟.小型高分辨率光电编码器现状与展望[J].现代计量测试.996.(5).4-6
[13]Mancini Dario,Cascone Enrico,Schipani Pietro.Galileo high-resolution encoder system[C].SPIE.1997.3112.328-334
[14]#12
[15]#12
[16]刘丰文,邓文和.25位绝对式编码器[J].光电工程.2000.27(6).66-68
[17]董莉莉,熊经武,万秋华.光电轴角编码器的发展动态[J].光学精密工程.2000.8(2).198-202
[18]曹向群,黄维实.莫尔技术的现状和展望[J].光电工程.1990.(2).48-56
[19]B.Culshaw,J.Dakin.李少慧,宁雅农译.光纤传感器[M].武汉.华中理工大学出版社。1997
[20]张建民.传感器与检测技术[M].北京.机械工业出版社.2000.27-29
[21]赵负图.光电检测控制电路手册[M].北京.化学工业出版社.2001
[22]马宏.精密刻划工艺.北京.兵器工业出版社.1994.179-183
[23]于萍,赵志巍.一种采用三圈码道输出十三位码的绝对式矩阵编码盘[P].中国.CN1542532A.2004
[24]赵志巍.一种具有十位粗码道的绝对式矩阵编码盘[P].中国.CN1538232A.2004
[25]曹振夫.绝对式光电编码尺[P].中国.CN2596322Y.2003
[26]今井,基胜.位置、角度传感器的市场动向[J].日本新型传感器及其应用汇编.1994.(1).10-17
[27]高宏越.绝对旋转编码器[J].机床电器.1997.4.20-22
[28]CoreTech Corporation.CoreTech Encoder DRS60/DRS61 ARS60.Rev.1.0.Aug.2008
[29]熊经武,万秋华.23位绝对式光电轴角编码器[J].光学机械.1990.(2).52-60
[30]Yeh Wei-Hung et al.High-resolution optical shaft encoder for motor speed control based on an optical disk pick-up[J].American Institute of Physics.1998.69.3068-3071
[31]曹振夫.小型绝对式矩阵编码器.光学机械.1985.5.65-70
[32]Toshitsugu U,Fusao K,Toshio I.Optical absolute encoder using spatial filter.SPIE.1987.814.217-221
[33]Fusao K,Toshio I,Kunio K.Multiturn absolute encoder using spatial filter.JSME International Journal.1990.33(1).94-99
[34]金轸裕.日本编码器的动向.计量技术[J].1997.(2).2-5
[35]郁有文,常健.绝对码编码器中一种新型的编码方法.仪器仪表学报.2004.25(4).541-544
[36]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).74-78
[37]Alain P.Hiltgen,Kenneth G.Paterson,Marco Brandestini.Single-Track Gray Codes[J].IEEE Transactions on Information Theory.1996.42(5).1555-1561
[38]邱成,王阳,朱衡君.基于卡诺图的均布式绝对位置编码[J].仪器仪表学报.2007.28(6).1080-1086
[39]陈赟.单圈绝对式码盘的研制[J].测量技术.2007.7-31-33
[40]ZHANG Fan,ZHU Heng-jun.Determination of optimal period of absolute encoders with Single track cyclic gray code.J.Cent.South Univ.Technol.2008.15(s2).362-366
[41]孔智勇,赵红颖,熊文卓.采用衍射、干涉技术提高光电轴角编码器的测角精度和分辨力[J].光学精密工程.2001.9.260-265
[42]王贵甫.激光干涉仪数字测角的新方法及应用[J].光学精密工程.2001.9(1).85-88
[43]龚树萍,张菲.非易失性并行存储器的应用.电子元器件应用[M].2002.4(10).7-11
[44]Ramtron International Corporation.FM1110 Nonvolatile 5V Quad State Saver.Rev.1.0.Aug.2007
[45]赵静,葛斌,宋晓琨.CT54/74LS161芯片的应用.大连大学学报[J].2000.21(4).35-41
[46]左森.RS-485低功耗收发器MAX485E.电子世界[J].2002.2.41-42