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LAUNCHXL-F28069M: 编码器线数lines的问题

Shaoxiong Guo
Prodigy 30 points
Part Number: LAUNCHXL-F28069M
Other Parts Discussed in Thread: MOTORWARE

InstaSPIN Motion中lab13b程序的user_j1.h中关于#define USER_MOTOR_ENCODER_LINES 

定义的问题.

1、我手头有一个编码器1000lines 这里USER_MOTOR_ENCODER_LINES  是否就是填1000？

2、InstaSPIN Motion中关于QEP模块采集增量式编码器信息时，是否使用4倍频的软件技术？

即 N线的编码器 实际经过软件处理 分辨率为 360°/(N*4)?

3、若不是采用4倍频技术，实际上 位置分辨率是怎么计算呢？

  • 0
    TI__Guru** 101655 points

    你好，如果你的编码器上写的是100lines，那么可以填1000。instaSPIN的user's guide中有说明：

    This parameter is USER_MOTOR_ENCODER_LINES. This value should be set to the number of lines (or pulses) that are on the motor's encoder

    InstaSPIN应该是没有将编码器的信号做4倍频处理的。不过，我不知道你提到的“位置分辨率”是指什么？

  • 0
    Prodigy 30 points

    位置分辨率是这样的概念？ 想问一下QEP里具体是怎么实现的？

  • 0 回复 Shaoxiong Guo
    TI__Guru** 101655 points

    似乎instaSPIN里面没有涉及到位置分辨率的部分。看到lab手册上有这样一段描述：

    It is important for the setup and configuration of the ENC module that the number of lines on the encoder be provided. This allows the ENC module to correctly convert encoder counts into an angle. This value is represented by USER_MOTOR_ENCODER_LINES. This value needs to be defined in user.h as part of the user motor definitions. This value must be updated to the correct value for your encoder. If this value is not correct the motor will spin faster or slower depending on if the value you set. It is important to note that this value should be set to the number of lines on the encoder, not the resultant number of counts after figuring the quadrature accuracy.

    C:\ti\motorware\motorware_1_01_00_18\docs\labs

  • 0 回复 Green Deng
    Prodigy 30 points

    手册中即是说填的是编码器线数，不是脉冲沿计数值.

    那么我具体想知道QEP模块的计数模式，应该是

    这里图中的哪一种呢？ 是否是4倍频的计数方式？

  • +1 回复 Shaoxiong Guo
    TI__Guru** 101655 points

    图中其实就2种计数方式，1倍和4倍频。按照文档种说的

    It is important to note that this value should be set to the number of lines on the encoder, not the resultant number of counts after figuring the quadrature accuracy.

    我认为就是1倍频的计数方式。

    至于正转反转应该是根据AB相的相位差来判定的，跟计数方式没关系。