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. 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.

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