伺服系统等占空比任意小数分频研究

Research on Equal Duty Ratio Arbitrary Decimal Frequency Division of Encoders in Servo System

在伺服系统中,需要将电机尾端或执行机构上的编码器信息按照特定分频比实时分频输出给上位控制器。本文研究了一种基于硬件逻辑的等占空比自适应分频方法,该方法在自适应任意小数、分数或整数等实数分频系数的同时,保证分频后的脉冲输出恒定50%占空比,且兼容通讯式和脉冲型编码器类型。此外,所研究的积分双模前置分频法将双模前置方法和积分分频方法进行了算法上的统一,该算法兼顾了积分分频方法的高效性和双模前置法的通用性,克服了传统双模前置等方法中占用硬件逻辑较多和分频延时的缺陷。仿真和实验结果验证了所研究方案的可行性和有效性。

In servo system,the encoder position information of the motor or actuator needs to be outputted to the host controller after specific frequency division. This paper introduced a novel method of self-adaptive equal duty ratio frequency division based on hardware logic,which realized the arbitrary division ratio setting including decimal,fraction and integer. Meanwhile,the proposed method guaranteed 50% duty cycle after frequency division and the self-adaption for encoders with serial communication and ABZ interface. Moreover,it achieves the arithmetic unification of the universal dual-mode method and the efficient integral methods,and overcomes the defects of high logic elements usage and output delay of traditional methods. The simulation and experimental results verified the feasibility and effectiveness of the proposed method.