Encoder mc ch dng qun l v tr gc ca mt a quay, a quay c th l bnh xe, trc ng c,

hoc bt k thit b quay no cn xc nh v tr gc.

Encoder c chia lm 2 loi, absolute encoder v incremental encoder. Tm dch l encoder tuyt i
v encoder tng i. Ch encoder tuyt i dch theo nguyn vn, nhng v ting Vit mnh ci g c 2
loi, th loi cn li c dch ngc li vi loi kia. Cho nen dch l encoder tng i cho incremental
encoder.

Nu dch st ngha, khi ta c absolute encoder, c ngha l encoder tuyt i, tc l tn hiu ta nhn
c, ch r rng v tr ca encoder, chng ta khng cn x l g thm, cng bit chnh xc v tr ca
encoder.

Cn incremental encoder, l loi encoder ch c 1, 2, hoc ti a l 3 vng l. Cc bn hnh dung th ny,
nu by gi cc bn c mt l trn mt ci a quay, th c mi ln a quay 1 vng, cc bn s nhn
c tn hiu, v cc bn bit a quay mt vng. Nu by gi cc bn c nhiu l hn, cc bn s c
c thng tin chi tit hn, c ngha l a quay 1/4 vong, 1/8 vng, hoc 1/n vng, ty theo s l nm
trn incremental encoder.

C mi ln i qua mt l, chng ta phi lp trnh thit b o m ln 1. Do vy, encoder loi ny c tn
incremental encoder (encoder tng ln 1 n v).



Nguyn l hot ng c bn ca encoder, LED v l

Nguyn l c bn ca encoder, l mt a trn xoay, quay quanh trc. Trn a c cc l (rnh).
Ngi ta dng mt n led chiu ln mt a. Khi a quay, ch khng c l (rnh), n led khng
chiu xuyn qua c, ch c l (rnh), n led s chiu xuyn qua. Khi , pha mt bn kia ca a,
ngi ta t mt con mt thu. Vi cc tn hiu c, hoc khng c nh sng chiu qua, ngi ta ghi nhn
c n led c chiu qua l hay khng.

Khi trc quay, gi s trn a ch c mt l duy nht, c mi ln con mt thu nhn c tn hiu n led,
th c ngha l a quay c mt vng.

y l nguyn l rt c bn ca encoder.

Tuy nhin, nhng vn c t ra l, lm sao xc nh chnh xc hn v tr ca a quay (mn hn)
v lm th no xc nh c a ang quay theo chiu no? chnh l vn chng ta tm hiu
v encoder.

Hnh sau s minh ha nguyn l c bn ca hot ng encoder.



Cc bn thy trong hnh, c mt a mask, khng quay, l a c nh, thc ra l che khe hp nh
sng i qua, gip cho vic c encoder c chnh xc hn m thi. Chng ti khng cp n a
mt n ny y.


Hot ng ca hai loi encoder ny nh th no?

1) Absolute encoder

Vn chng ta s quan tm y, chnh l vn v mn ca encoder, c ngha l lm th no bit
a quay 1/2 vng, 1/4 vng, 1/8 vng hay 1/n vng, ch khng phi ch bit a quay c mt
vng.

Quay li bi ton c bn v bit v s bit, chng ta xem xt vn theo mt cch hon ton ton hc nh:

Vi mt s nh phn c 2 ch s, chng ta s c 00, 01, 10, 11, tc l 4 trng thi. iu c ngha l
vi 2 ch s, chng ta c th chia a encoder thnh 4 phn bng nhau. V khi quay, chng ta s xc
nh c chnh xc n 1/4 vng.

Tng t nh vy, nu vi mt s c n ch s, chng ta s xc nh c chnh xc n 1/(2^n)
vng.

Th lm sao xc nh 2^n trng thi ny ca a encoder?

Cc bn xem hnh sau:



y, ti a ra v d vi a encoder c 2 vng a. Cc bn s thy rng, vng trong cng, c mt
rnh rng bng 1/2 a. Vng pha ngoi, s c 2 rnh nm i din nhau.

Nh vy, chng ta cn 2 n led pht xuyn qua 2 vng l, v 2 n thu.

Gi s vng l th nht (trong cng), n c ang nm v tr c l h, th tn hiu nhn c t con
mt thu s l 1. V vng l th hai, th chng ta ang v tr khng c l, nh vy con mt thu vng 2
s c c gi tr 0.

V nh vy, vi s 10, chng ta xc nh c encoder ang nm gc phn t no, cng c ngha l
chng ta qun l c chnh xc ca a quay n 1/4 vng. Trong v d trn, nu n LED c c
10, th v tr ca LED phi nm trong gc phn t th hai, pha trn, bn tri.

Kt qu, nu a encoder c n 10 vng l, th chng ta s qun l c n 1/(2^10) tc l n 1/1024
vng. Hay ngi ta ni l phn gii ca encoder l 1024 xung trn vng (pulse per revolution - ppr).

Sau y l v d abosulte encoder 8 vng l:





Vy cch thit k absolute encoder nh th no?

Cc bn lun ch rng, thit k encoder tuyt i, ngi ta lun v sao cho bit th N (i vi
encoder c N vng l) nm trong cng, c ngha l l ln nht c gc rng 180 , nm trong cng.
Bi v chng ta thy rng, bit0 (nu xem l s nh phn) s thay i lin tc mi 1/2^N vng quay, v th,
chng ta cn rt nhiu l. Nu t trong th khng th no v c, v trong bn knh nh hn. Ngoi
ra, nu t trong, th v kt cu c kh, n qu gn trc, v qu nhiu l, s rt yu. V hai im ny,
nn bit0 lun t ngoi cng, v bitN-1 lun t trong cng nh hnh trn.

Rt nhiu ngi thc mc v cch thc t v encoder nh th no. Tuy nhin, k t khi c chng
trnh thit k encoder ny, ti cho rng chng ta khng nn quan tm n vn na. Ch cn hiu n
hot ng ra sao, ri sau chng ta dng chng trnh ny v.
Kt qu, nu a encoder c n 10 vng l, th chng ta s qun l c n 1/(2^10) tc l n 1/1024
vng. Hay ngi ta ni l phn gii ca encoder l 1024 xung trn vng (pulse per revolution - ppr).
2) Incremental encoder

Nhn thy mt iu rng, encoder tuyt i rt c li cho nhng trng hp khi gc quay l nh, v ng
c khng quay nhiu vng. Khi , vic x l encoder tuyt i tr nn d dng cho ngi dng hn, v
ch cn c gi tr l chng ta bit ngay c v tr gc ca trc quay.

Tuy nhin, nu ng c quay nhiu vng, iu ny khng c li, bi v khi , chng ta phi x l
m s vng quay ca trc.

Ngoi ra, nh cc bn thy , nu thit k encoder tuyt i, chng ta cn qu nhiu vng l, v dn ti
gii hn v kch thc ca encoder, bi v vic gia cng chnh xc cc l qu nh l khng th thc hin
c. Cha k rng vic thit k mt dy n led v con mt thu cng nh hng rt ln n kch thc
gii hn ny.

Theo kinh nghim ca c nhn ti, ti thy encoder 8 bit l rt chi tit ri, v trng DHBKHCM c
loi encoder 12bit l loi tt nht m ti bit. Ti cha thy loi encoder tuyt i no 16 bit c, v
cng khng c nh tm n trn internet.

chnh xc ca encoder 12 bit l 1/4096 ri.

Tuy nhin, iu ny c khc phc bng incremental encoder mt cch kh n gin. Chnh v vy,
ngy nay, a s ngi ta s dng incremental encoder trong nhng ng dng hin i.

Hot ng ca incremental encoder

Tht n gin, incremental encoder, s tng 1 n v khi mt ln ln xung ca cnh xung.

Cc bn xem hnh encoder sau:



Cc bn thy rng, c mi ln quay qua mt l, th encoder s tng mt n v trong bin m.

Tuy nhin, mt vn l lm sao bit c encoder quay ht mt vng? Nu c m v hn nh th
ny, th chng ta khng th bit c khi no n quay ht mt vng. Nu by gi cc bn m s l
encoder bit n quay mt vng, th nu vi encoder 1000 l chc cc bn s m n sng lun.

Cha k, mi ln c nhng rung ng no m ta khng qun l c, encoder s b sai mt xung. Khi
, nu hot ng lu di, sai s ny s tch ly, ngy hm nay sai mt xung, ngy hm sau sai mt
xung. n cui cng, c th ng c quay 2 vng ri cc bn mi m c 1 vng.

trnh iu tai hi ny xy ra, ngi ta a vo thm mt l nh v m s vng quay ca
encoder.

Nh vy, cho d c lch xung, m chng ta thy rng encoder i ngang qua l nh v ny, th chng ta
s bit l encoder b m sai u . Nu v mt rung ng no , m chng ta khng thy
encoder i qua l nh v, vy th t s xung, v vic i qua l nh v, chng ta s bit r hin tng sai
ca encoder.

y l hnh encoder c l nh v:



Tuy nhin, mt vn ln na l, lm sao chng ta bit encoder ang xoay theo chiu no? Bi v cho
d xoay theo chiu no, th tn hiu encoder cng ch l cc xung n l v xoay theo hai chiu u ging
nhau.

Chnh v vy, ngi ta t thm mt vng l gia vng l th 1 v l nh v nh hnh sau:



Ch rng, v tr gc ca cc l vng 1 v cc l vng 2 lch nhau. Cc cnh ca l vng 2 nm ngay
gia cc l vng 1 v ngc li.

Chng ta s kho st tip vn encoder trong phn tn hiu xung hiu r hn v encoder. Tuy nhin,
cc bn s thy mt iu rng, thay v lm 2 vng encoder, v dng 2 n LED t thng hng, th ngi
ta ch cn lm 1 vng l, v t hai n LED lch nhau.

Kt qu, cc bn s thng thy cc encoder c dng nh hnh 2:



y l dng encoder ph bin nht hin nay.



Hnh trn l hnh xung incremental encoder.

Cc bn thy rng nu nh khi xung A ang t mc cao xung mc thp, m lc B ang mc thp,
th chng ta s xc nh c chiu chuyn ng ca encoder theo chiu mi tn mu cam.

Nu A ang t mc cao xung mc thp, m B ang mc cao, th chng ta s bit encoder ang quay
theo chiu mu nu.