CN103162614B - The online self-calibrating method of a kind of angular displacement sensor - Google Patents

The online self-calibrating method of a kind of angular displacement sensor Download PDF

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CN103162614B
CN103162614B CN201310102446.0A CN201310102446A CN103162614B CN 103162614 B CN103162614 B CN 103162614B CN 201310102446 A CN201310102446 A CN 201310102446A CN 103162614 B CN103162614 B CN 103162614B
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read head
main
auxiliary
rotor
sensor
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CN103162614A (en
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鲁进
彭东林
陈锡侯
张天恒
汤其富
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Chongqing University of Technology
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Abstract

The invention discloses a kind of online self-calibrating method of angular displacement sensor, it has main read head and each one of auxiliary read head, the rotor of sensor and the rotating part of measurand are connected firmly, make it respectively under the indicating value instruction of main read head and auxiliary read head, be turned back to a series of specific position until one complete 360 °, be recorded in the indicating value of main read head during each specific position, obtain the measuring error function of sensor after data processing is carried out to indicating value, realize the online self-calibration of sensor.This self-calibrating method is according to the circumference closure principle in measurement of angle, main read head is measured under the assistance of auxiliary read head, by processing measurement data, the online self-calibration of sensor can be realized under the condition not having standard and other High-Accuracy Angular Displacement Measurement instrument.

Description

The online self-calibrating method of a kind of angular displacement sensor
Technical field
The invention belongs to accurate displacement fields of measurement, the On-line self-diagnosis being particularly suitable for angular displacement sensor measuring error is surveyed.
Background technology
Angular displacement sensor is angle displacement measurement element.Because, there is error when this kind of sensor carries out angle displacement measurement in the deviations such as processing, installation, electric parameter.Usually, by demarcating these sensors, measuring accuracy can be improved.But current known scaling method generally needs, by standard or more high-precision angle displacement measurement instrument, to be not suitable for carrying out online.In addition, have a kind of disclosed method to adopt two the electromagnetic type angular displacement sensors different to number of poles to realize self-calibration, but this method need the two covers sensing system different to number of poles just can realize.
Summary of the invention
The present invention is directed to the problems referred to above, disclose a kind of online self-calibrating method of angular displacement sensor.This self-calibrating method is according to the circumference closure principle in measurement of angle, main read head is measured under the assistance of auxiliary read head, by processing measurement data, the online self-calibration of sensor can be realized under the condition not having standard and other High-Accuracy Angular Displacement Measurement instrument.
The technical solution used in the present invention is:
Main read head and each one of auxiliary read head is had in sensing system inside, the rotating part of rotor sensor and measurand is connected firmly, make it respectively under the indicating value instruction of main read head and auxiliary read head, be turned back to a series of specific position until one complete 360 °, be recorded in the indicating value of main read head during each specific position, obtain the measuring error function of sensor after data processing is carried out to indicating value, realize the online self-calibration of sensor.
Described sensing system structure comprises rotor portion and stationary part, and sensing system can measure the relative gyration between rotor and stator.
Described main read head is the read head that sensing system uses when normally working, and main read head is fixedly connected with rotor sensor, can provide the measured value of rotor and the angular displacement of stator Arbitrary Relative under the condition of 360 ° of scope built-in system resolving powers.
The only use when sensor carries out self-calibration of described auxiliary read head, auxiliary read head can be fixed with rotor, also can fix with stator, for realizing the relative motion of a fixing special angle between aiding sensors rotor and stator, the version of auxiliary read head and main read head and measuring error can identical also can be variant.
Described fixing special angle refers to that rotor is 0 ° from main read head reading and forwards reading to and be time the actual angle that turns over, be designated as θ 0.Wherein, M for be not equal to be demarcated in angular displacement sensor measuring error the positive integer of integral multiple of the main error frequency that comprises and these main frequencys, under this prerequisite, M is taken as prime number, as 17,19,23 ... better Deng demarcation effect.In difference is demarcated, M can be taken as different value, but M can only get a fixing value in same time demarcation.
Described respectively under the indicating value instruction of main read head and auxiliary read head, be turned back to a series of specific position until one complete 360 °, the indicating value being recorded in main read head during each specific position comprises the following steps:
1) main read head and auxiliary read head are reset;
2) auxiliary read head and stator fixed and keep motionless, rotary rotor to main read head is position (i=0,1,2, n-1, step 2) repeat 1 time, i adds 1), recording main read head reading is { A 2i;
3) auxiliary read head and rotor are fixed (reading of main read head and auxiliary read head should be kept in fixation procedure not change), rotary rotor to main read head reading is 0, and now auxiliary read head reading is non-vanishing;
4) auxiliary read head and stator fixed and keep motionless, rotor turns over θ on current location basis 0, namely going to main read head reading is position;
5) auxiliary read head and rotor are fixed (reading of main read head and auxiliary read head should be kept in fixation procedure not change), rotary rotor is 0 to the reading of auxiliary read head, and recording main read head reading is { A 2i+1;
6) above-mentioned steps 2 is repeated) to 5), obtain the sequence A that of main read head comprises 2n measured value 0, A 1..., A 2n-2, A 2n-1.
Described data processing is carried out to indicating value refer to and aforesaid main read head measured odd term in sequence and even item is subtracted each other item by item, obtain one and comprise n the sequence { C put i, that is: C i=A 2i+1-A 2i, and to { C icarry out discrete Fourier transformation, obtain the amplitude spectrum { Am of its correspondence iand phase spectrum { P i.
After described data processing, the measuring error function of sensor can be expressed as formula (1),
δ (θ)=A 0+ k (θ) (1) wherein: δ (θ) is measuring error function; θ is measured angle displacement;
k ( θ ) = Σ i = 1 n / 2 - 1 { Am i 2 × sin ( i × Am 0 2 ) × sin ( i × θ + P i - π 2 - Am 0 2 ) }
A 0 = max ( k ( θ ) ) + min ( k ( θ ) ) 2 ;
Wherein: max (k (θ)) is the maximal value of k (θ); Min (k (θ)) is the minimum value of k (θ).
The described online self-calibration of sensor that realizes refers to, after obtaining the measuring error function δ (θ) of sensor, the indicating value f (θ) of sensor θ at an arbitrary position can under the condition that not need standard and other high precision measuring instruments, and through type (2) obtains the calibration value Ca (θ) of its correspondence:
Ca(θ)=f(θ)-δ(θ) （2）。
Key point of the present invention is:
1) there are two read heads angular displacement sensor inside, a main read head and an auxiliary read head, and the two version, measuring error identically also can have different;
2) auxiliary read head can be fixed with stator, also can fix with rotor;
3) being positioned at reading value at main read head is position and turn over a θ on this basis 0time, record the indicating value of main read head respectively, obtain the indicating value sequence A of a main read head 0, A 1..., A 2n-2, A 2n-1;
4) by indicating value sequence A 0, A 1..., A 2n-2, A 2n-1odd term and even item subtract each other item by item successively, obtain sequence { C i;
5) to sequence { C icarry out discrete Fourier transformation, obtain the amplitude spectrum { Am of its correspondence iand phase spectrum { P i;
6) the function representation δ (θ) of measuring error is obtained according to formula (1);
7) obtain the calibration value of optional position according to formula (2), realize the online self-calibration of sensor.
Compared with the prior art, advantage of the present invention is:
(1) demarcate employing two read heads to realize, need not standard or high precision with reference to female instrument, can be implemented in line self-calibration;
(2) relative to traditional full combined method and pointwise standardization, the sampling number of described self-calibrating method is few;
(3) owing to solving error function, described self-calibration can be demarcated arbitrfary point within the scope of complete cycle, and existing full combined method and point by point method can only be demarcated finite point;
The structural parameters of (4) two read heads can be the same or different, and require to reduce to manufacturing accuracy.
Accompanying drawing explanation
Fig. 1 is the magnetic grid angular displacement sensor schematic diagram with two read heads;
Fig. 2 is the A-A sectional view of Fig. 1.
1-main read head; 2-auxiliary read head; 3-disk; 4-stator; 5-rotor.
Embodiment
Below in conjunction with Figure of description, technical scheme of the present invention is described in further detail.
See Fig. 1, a kind of online self-calibrating method of error of angular displacement sensor system is: in the magnetic induction sensor be made up of main read head 1, auxiliary read head 2, disk 3, rotor 4 and stator 5, disk 3 is fixed on stator 5, main read head 1 is fixed on rotor 4 and rotates with measurand, and auxiliary read head 2 both also can be fixed with stator 5 with rotor 4 is fixing; Main read head 1 can carry out reading to disk, realizes the angle displacement measurement to measurand; Auxiliary read head 2 also can carry out reading to disk, rotary rotor under the instruction of auxiliary read head 2 indicating value, can make the relative motion realizing a fixing special angle between rotor sensor and stator, in this embodiment, auxiliary read head adopts the version identical with main read head.
Carry out according to following steps operating the measuring error function obtaining magnetic grid:
1) main read head and auxiliary read head are reset;
2) auxiliary read head and stator fixed and keep motionless, rotary rotor to main read head reading is position, recording main read head reading is { A 2i(wherein i is taken as 0,1,2 successively ..., 58,59, step 2) repeat 1 time, i adds 1);
3) auxiliary read head and rotor are fixed (reading of main read head and auxiliary read head should be kept in fixation procedure not change), rotary rotor to main read head reading is 0, and now auxiliary read head reading is non-vanishing;
4) auxiliary read head and stator fixed and keep motionless, rotor turns over θ on current location basis 0, namely going to main read head reading is position;
5) auxiliary read head and rotor are fixed (reading of main read head and auxiliary read head should be kept in fixation procedure not change), rotary rotor is 0 to auxiliary read head reading, and recording main read head reading is { A 2i+1;
6) above-mentioned steps 2 is repeated) to 5), obtain the sequence A that of main read head comprises 120 measured values 0, A 1..., A 118, A 119.
The measurement sequence A of 120 measured values will be comprised 0, A 1..., A 118, A 119in odd term and even item subtract each other item by item, obtain the sequence { C that comprises 60 points i, that is: C i=A 2i+1-A 2i(wherein i is integer, is taken as 0,1,2 successively ..., 58,59).
To { C icarry out discrete Fourier transformation, obtain the amplitude spectrum { Am of its correspondence iand phase spectrum { P i.
The measuring error function of magnetic induction sensor is formula (3),
δ (θ)=A 0+ k (θ) (3) wherein: k ( θ ) = Σ i = 1 29 { Am i 2 × sin ( i × Am 0 2 ) × sin ( i × θ + P i - π 2 - Am 0 2 ) }
A 0 = max ( k ( θ ) ) + min ( k ( θ ) ) 2
The indicating value f (θ) of magnetic induction sensor θ at an arbitrary position can obtain the calibration value Ca (θ) of its correspondence by through type (2).

Claims (3)

1. the online self-calibrating method of angular displacement sensor, is characterized in that: have main read head and each one of auxiliary read head in sensing system inside;
The rotor of described main read head and sensor is fixedly connected, and is the read head that sensing system uses when normally working, can provides the measured value of rotor and the angular displacement of stator Arbitrary Relative under the condition of 360 ° of scope built-in system resolving powers;
The only use when sensor carries out self-calibration of described auxiliary read head, auxiliary read head and rotor are fixed, or fix with stator, for realizing the relative motion of a fixed angle between aiding sensors rotor and stator, the version of auxiliary read head and main read head and measuring error can identical also can be variant;
The rotating part of rotor sensor and measurand is connected firmly, respectively under the indicating value instruction of main read head and auxiliary read head, be turned back to a series of position until one complete 360 °, be recorded in the indicating value of main read head during each position, obtain the measuring error function of sensor after data processing is carried out to indicating value, realize the online self-calibration of sensor;
Described data processing is carried out to indicating value refer to and aforesaid main read head measured odd term in sequence and even item is subtracted each other item by item, obtain one and comprise n the sequence { C put i, that is: C i=A 2i+1-A 2i, and to { C icarry out discrete Fourier transformation, obtain the amplitude spectrum { Am of its correspondence iand phase spectrum { P i;
After described data processing, the measuring error function representation of sensor is formula (1),
δ(θ)＝A 0+k(θ) (1)
Wherein: δ (θ) is measuring error function; θ is measured angle displacement;
Wherein: max (k (θ)) is the maximal value of k (θ); Min (k (θ)) is the minimum value of k (θ);
After obtaining the measuring error function δ (θ) of sensor, the indicating value f (θ) of sensor θ at an arbitrary position can under the condition that not need standard and other high precision measuring instruments, and through type (2) obtains the calibration value Ca (θ) of its correspondence:
Ca(θ)＝f(θ)-δ(θ) (2)。
2. the online self-calibrating method of angular displacement sensor according to claim 1, it is characterized in that: described respectively under the indicating value instruction of main read head and auxiliary read head, be turned back to a series of specific position until one complete 360 °, the indicating value being recorded in main read head during each position refers to: main read head indicating value obtains in pairs, make two indicating values of often pair on locus, differ a fixed angle by the auxiliary instruction of read head indicating value and the rotation of rotor, specifically comprise the following steps:
1) main read head and auxiliary read head are reset;
2) auxiliary read head and stator fixed and keep motionless, rotary rotor to main read head is positioned at position, recording main read head reading is { A 2i; Wherein, i=0,1,2, n-1, step 2) repeat 1 time, i adds 1;
3) auxiliary read head and rotor are fixed, should ensure that the reading of main read head and auxiliary read head does not change in fixation procedure, rotary rotor to main read head reading is 0, and now auxiliary read head reading is non-vanishing;
4) auxiliary read head and stator fixed and keep motionless, should ensure in fixation procedure that the reading of main read head and auxiliary read head does not change, rotor turns over θ on current location basis 0, namely going to main read head reading is position, wherein, M for be not equal to be demarcated in angular displacement sensor measuring error the positive integer of integral multiple of the main error frequency that comprises and these main frequencys, under this prerequisite, M is taken as prime number, and in difference is demarcated, M can be taken as different value, but in demarcating at same time, M can only get a fixing value;
5) auxiliary read head and rotor are fixed, should ensure that the reading of main read head and auxiliary read head does not change in fixation procedure, rotary rotor is 0 to auxiliary read head reading, and recording main read head reading is { A 2i+1;
6) above-mentioned steps 2 is repeated) to 5), obtain the sequence A that of main read head comprises 2n measured value 0, A 1..., A 2n-2, A 2n-1.
3. the online self-calibrating method of angular displacement sensor according to claim 1 and 2, is characterized in that: described fixed angle refers to: rotor is 0 ° from main read head reading and forwards main read head reading to and be time the actual angle that turns over, wherein, M for be not equal to be demarcated in angular displacement sensor measuring error the positive integer of integral multiple of the main error frequency that comprises and these main frequencys, under this prerequisite, M is taken as prime number.
CN201310102446.0A 2013-03-28 2013-03-28 The online self-calibrating method of a kind of angular displacement sensor Expired - Fee Related CN103162614B (en)

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CN103954316B (en) * 2014-04-30 2016-04-13 湖南大学 A kind of scaling method of angular encoder and device
CN106130430A (en) * 2016-08-11 2016-11-16 创驱（上海）新能源科技有限公司 The detection method at permanent-magnetic synchronous motor rotor initial positional deviation angle and off-line test device
CN106500631B (en) * 2016-10-21 2018-11-23 北京信息科技大学 Circular gratings eccentric error parameter identification and compensation method
CN107747931B (en) * 2017-08-21 2019-11-22 上海微泓自动化设备有限公司 For the self-alignment reading head optimization placement method of angular encoder
CN114383646B (en) * 2021-10-29 2023-08-25 廊坊市大华夏神农信息技术有限公司 Method and equipment for detecting resolution of continuously-variable measured sensor

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