二十三位元光學反射式旋轉編碼器之設計與驗證

Design and Verification of 23-Bit Optical Reflective Rotary Encoder

王廷峰(Ting-Feng Wang)

指導教授 ： 歐陽盟

國立交通大學/電機學院/電機與控制工程系所/碩士(2020年)

摘要

工業4.0計劃在全球被持續地實現著，運用自動機械、物聯網及雲端數據運算的技術使智能工廠得以實現，伺服系統的相關應用便是前述各項技術之最重要的環節，本論文將針對應用於伺服系統中的旋轉馬達之光學反射式旋轉編碼器進行研究與開發。
本論文所開發之整合型光學反射式旋轉編碼器，包括了絕對軌與增量軌，前者的設計使系統在重啟電源時，依舊可以留存粗略解析度的位置資訊，後者的設計以近似弦波的光電訊號搭配反正切處理晶片得到精細解析度的位置資訊，兩者的訊息整合可以使得馬達旋轉一圈內產生23位元共8388608等分點的解析度。光學反射式旋轉編碼器設計流程先以反射光學理論建立光電感測器與編碼圓盤在三維空間中的數學關係模型並導引進光學軟體ASAP模擬兩者於系統運作中的光能變化整合光學遮罩所產生訊號模態於各項參數變化下的影響。
光學旋轉編碼器實現後發現絕對軌的實際輸出訊號不同於光學模擬的訊號而有準位飄動的現象，編碼圓盤的絕對軌編碼採用被懷疑是造成原因從而進行一系列原因探究並分析後得出一挑選適當編碼應用於光學旋轉編碼器的流程。實體製作出本論文所設計之23位元光學反射式旋轉編碼器相關子構件並附上使用規格，包括光電感測器、光源晶粒、封裝盒體、編碼圓盤、讀取電路。以模擬運作機構進行實體驗證其23位元的輸出結果後做出本論文的總論後再進一步列出未來進行更高位元解析度光學反射式旋編碼器的開發時可能遭遇之困難。

關鍵字

光學 ； 反射式 ； 旋轉 ； 編碼器

並列摘要

Industry 4.0 has been implemented around the world successively. The use of automatic machinery, the Internet of Things, and cloud data computing technology enable smart factories to be realized. The application of servo systems is the most important key to the aforementioned technologies. This thesis researches and develops the 23-bit optical reflective rotary encoder applied to the rotary motor in the servo system.
The 23-bit integrated optical reflective rotary encoder developed in this thesis includes an absolute track and an incremental track. The use of the former allows the system to retain coarse resolution position information when the system is restarted, and the latter uses an optoelectronic signal that approximates a sine wave matching circuit to perform arc tangent calculations to obtain fine-resolution position information. The integration of the two position information can cause the motor to produce a 23-bit resolution within one revolution. The design process of the optical reflective rotary encoder is that establishing the mathematical model of the sensor and the coding disc in space through the theory of reflective optics and discusses the coordination of the reflected light pattern of the latter and the ideality of the signal generated by the change of light energy. The optical software ASAP was used to simulate and analyze the results of various design parameter changes.
when realizing the optical rotary encoder, the situation that the actual signal from absolute track did have the level fluctuation phenomenon, unlike the simulation signal. The sequence on the coding discs’ absolute track was suspected to be the cause and a series of analyses was practiced to find a suitable sequence for such a situation. After manufacturing the components of the designed 23-bit optical reflective rotary encoder, including the sensor, the LED light source, the package box, the coding disc, the readout circuit, the operating mechanism then verified its 23-bit output result in the experimental architecture. Finally, making conclusions of this thesis and proposing future difficulties in the further development of optical reflective rotary encoder.

並列關鍵字

optical ； reflective ； rotary ； encoder

參考文獻

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