CN103983291A - Photomagnetic coder and coding method thereof - Google Patents
Photomagnetic coder and coding method thereof Download PDFInfo
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Abstract
The invention discloses a photomagnetic coder and a coding method thereof. The photomagnetic coder comprises a magnetic detection part, an optical detection part and a control circuit unit, wherein an analog-to-digital conversion circuit, a starting position calculating circuit and a rotating angle calculating circuit are arranged in the control circuit unit, analog signals of the optical detection part are converted into digital signals through the analog-to-digital conversion circuit, digital signals of the magnetic detection part are combined, starting position signals of the coder when the coder is powered on are determined, and after the coder is powered on, rotating angle signals are output through the digital signals output by the analog-to-digital conversion circuit and the combination of the starting position signals. The mode of combining a magnetic coder and an optical coder is adopted in the photomagnetic coder, absolute position coding signals can be output every time the coder is powered on, and the coder has the advantages of being small in size and high in precision.
Description
Technical field
The invention belongs to encoder techniques field, be specifically related to a kind of optomagnetic scrambler and coding method thereof.
Background technology
Absolute type encoder, is usually used in the anglec of rotation of instrument or equipment to carry out testing and calibration.Traditional absolute encoding, along with coding figure place is different, accuracy requirement is different, corresponding code-disc area, detection head quantity all will increase in proportion.In many instances, need to meet the high-precision requirement that simultaneously meets coder structure compactness.At present, novel absolute type encoder is generally encoded based on modes such as calibration-matrix coder, M sequence pseudo random codes.Compared with traditional absolute encoding, above-mentioned two kinds of absolute types can obtain described pseudo-random code coded system can dwindle code-disc/grid chi area, reduces detection head quantity, still guarantees the requirement of high-precision high-speed when reducing scrambler size.The scrambler of pseudo-random code coding form, because being adopts serial code, if caused when the information of not preserving before power-off last time, again go up photoelectric coder and cannot obtain actual true angle information, thereby need scrambler to turn an angle, could obtain actual physical location (anglec of rotation is different and different with coding figure place), therefore, belong to a kind of accurate absolute type encoder.The scrambler of calibration-matrix coder form, belongs to pure absolute type encoder, but its volume is often greater than the scrambler based on pseudo-random code coding.Therefore above-mentioned two kinds of novel absolute type encoders, still have that volume is large, a shortcoming of drop-out after power down.
Summary of the invention
The invention provides the coding method of a kind of optomagnetic scrambler and optomagnetic scrambler, the light coding of the magnetic coding of absolute type and increment type is combined, overcome existing absolute type encoder volume large, the problem of drop-out after incremental encoder power down.
To achieve these goals, optomagnetic scrambler of the present invention, comprising: magnetic test section, comprise magnet and Magnetic Sensor, and magnet is fixedly mounted on rotary main shaft, according to the magnet that rotarily drives of rotary main shaft, rotates, and from Magnetic Sensor output digit signals; Optical detection part, comprises light source, code-disc, quiet grating and optical sensor, the irradiation code-disc of light source and quiet grating, and the code-disc that rotarily drives by rotary main shaft rotates, and from optical sensor outputting analog signal; Control circuit unit, connects respectively Magnetic Sensor and optical sensor, utilizes the digital signal of Magnetic Sensor output and the simulating signal of optical sensor output to calculate and determine the anglec of rotation of rotary main shaft;
Described control circuit unit comprises: analog to digital conversion circuit, be connected with the optical sensor of optical detection part, and the simulating signal of optical sensor output is converted to digital signal; Reference position counting circuit, connects respectively Magnetic Sensor and analog to digital conversion circuit, utilizes the digital signal of analog to digital conversion circuit output while powering on and the digital signal of magnetic test section output to calculate and export reference position signal; Rotation angle counting circuit, connects respectively reference position counting circuit and analog to digital conversion circuit, utilizes the digital signal of the analog to digital conversion circuit output after powering on, and the initial position signal while powering on, and calculates and export rotation angle signal.
It is A phase code channel and the B phase code channel of 90 ° that described code-disc is provided with phase differential, and on A phase code channel and B phase code channel, is all respectively equipped with 2N light shielding part and the transmittance section being spacedly distributed.
Preferably, it is A phase code channel and the A ＇ phase code channel of 180 ° that described code-disc is provided with phase differential, with A phase code channel phase differential be the B phase code channel of 90 °, with B phase code channel phase differential be the B ＇ phase code channel of 180 °, and be respectively equipped with 2N light shielding part and the transmittance section being spacedly distributed on A phase code channel, A ＇ phase code channel, B phase code channel, B ＇ phase code channel.
Preferably, described analog to digital conversion circuit comprises A phase differential amplifier circuit, B phase differential amplifier circuit and AD converter, and A phase differential amplifier circuit, B phase differential amplifier circuit are connected optical sensor respectively with AD converter.
The coding method of optomagnetic scrambler of the present invention, its step comprises: S1: when scrambler powers on, according to the rotation of scrambler rotary main shaft, magnetic test section digital signal X1 from Magnetic Sensor output, retain its high N position and process, thereby the scope that rotary main shaft is rotated a circle is divided into 2N zoning Z; S2: from the optical detection part simulating signal of optical sensor output, after analog to digital conversion circuit, export respectively A phase digital signal and B phase digital signal, in reference position counting circuit, A phase digital signal and B phase digital signal are carried out to division arithmetic, arctangent cp cp operation, obtain the position quantity signal Y of reference position place light sense cycle △; S3: judge whether the magnetic test section digital signal X1 of reference position output surpasses the boundary value of the magnetic test section zoning Z in the light sense cycle △ at its place; When not surpassing boundary value, by the magnetic test section digital signal X1 of high N position directly and the position quantity signal Y union operation of optical detection part, obtain reference position signal; When surpassing boundary value, the N position of the magnetic test section digital signal X1 of high N position " is subtracted to 1 " afterwards and the position quantity signal union operation of optical detection part, obtain reference position signal; S4: after scrambler powers on, in conjunction with A phase digital signal, B phase digital signal and reference position signal, calculate and export rotation angle signal.
Preferably, magnetic test section digital signal X1 and position quantity signal Y are done to subtraction, magnetic test section digital signal X2 corresponding to starting point of the light sense cycle △ at reference position place, the N+1 position of magnetic test section digital signal X2 is 0, illustrate that the starting point of light sense cycle △ is positioned at the first half section of zoning Z, during judgement, the N+1 position of magnetic test section digital signal X1 is 0, and position quantity signal Y is greater than the intermediate value of light sense cycle △, illustrate that magnetic test section digital signal X1 has surpassed boundary value M; Otherwise for not surpassing boundary value M; If the N+1 position of magnetic test section digital signal X2 is 1, illustrate that the starting point of light sense cycle △ is positioned at the second half section of zoning Z, during judgement, the N+1 position of magnetic test section digital signal X1 is 1, and position quantity signal Y is less than the intermediate value of light sense cycle △, illustrate that magnetic test section digital signal X1 does not surpass boundary value M; Otherwise for surpassing boundary value M.
Preferably, when scrambler powers on, from the magnetic test section digital signal X1 of Magnetic Sensor output, retain its high N position and process, wherein N≤11.
Owing to having adopted technique scheme, the invention has the beneficial effects as follows:
Optomagnetic scrambler of the present invention, combines the light coding of the magnetic coding of absolute type and increment type, can obtain the specific coding of reference position when powering on each time, forms a kind of absolute type encoder, has advantages of that volume is little, precision is high.
Accompanying drawing explanation
Fig. 1 is optomagnetic scrambler cut-open view of the present invention.
Fig. 2 is the control circuit unit block scheme of optomagnetic scrambler of the present invention.
Fig. 3 is code-disc planimetric map of the present invention.
Fig. 4 is the block diagram of the coding method of optomagnetic device of the present invention.
Fig. 5 is union operation key diagram of the present invention.
Fig. 6 is the key diagram of position quantity signal Y of the present invention.
Fig. 7 is the code-disc partial enlarged drawing of embodiments of the invention 1.
Fig. 8 is the code-disc partial enlarged drawing of embodiments of the invention 2.
Mark in figure:
10-control circuit unit, 11-analog to digital conversion circuit, 11A-A phase differential amplifier circuit, 11B-B phase differential amplifier circuit, 11C-AD converter, 12-rotation angle counting circuit, 13-reference position counting circuit, 20-magnetic test section, 21-Magnetic Sensor, 22-magnet, 30-optical detection part, 31-light source, 32-code-disc, 32A-A phase code channel, 32A ＇-A ＇ phase code channel, 32B-B phase code channel, 32B ＇-B ＇ phase code channel, the quiet grating of 33-, 34-optical sensor, 40-rotary main shaft.
Embodiment
With reference to Fig. 1-3, optomagnetic scrambler embodiment of the present invention, comprises magnetic test section 20, optical detection part 30, control circuit unit 10.Wherein magnetic test section 20 comprises magnet 22 and Magnetic Sensor 21, and magnet 22 is fixedly mounted on rotary main shaft 40, according to the magnet 22 that rotarily drives of rotary main shaft 40, rotate, and from Magnetic Sensor 21 output digit signals.Optical detection part 30 comprises light source 31, code-disc 32, quiet grating 33 and optical sensor 34, the irradiation code-disc 32 of light source 31 and quiet grating 33, by rotary main shaft 40 rotarily drive code-disc 32 rotation, and from optical sensor 34 outputting analog signals.
Control circuit unit 10 comprises analog to digital conversion circuit 11, reference position counting circuit 13 and rotation angle counting circuit 12, analog to digital conversion circuit 11 comprises A phase differential amplifier circuit 11A, B phase differential amplifier circuit 11B and AD converter 11C, and A phase differential amplifier circuit 11A, B phase differential amplifier circuit 11B are connected optical sensor 34 respectively with AD converter 11C.The output terminal of AD converter 11C is connected respectively in reference position counting circuit 13 and rotation angle counting circuit 12.Reference position counting circuit 13 connects respectively Magnetic Sensor 21 and analog to digital conversion circuit 11, and in utilization, reference position signal is calculated and exported to the digital signal of the digital signal of analog to digital conversion circuit 11 outputs and Magnetic Sensor 21 outputs.Rotation angle counting circuit 12 connects respectively reference position counting circuit 13 and analog to digital conversion circuit 11, utilizes the digital signal of the increment type of analog to digital conversion circuit 11 outputs after powering on, and initial position signal, calculates and export rotation angle signal.
It is A phase code channel 32A and the B phase code channel 32B of 90 ° that code-disc 32 is provided with phase differential, and on A phase code channel 32A and B phase code channel 32B, is all respectively equipped with 2N light shielding part and the transmittance section being spacedly distributed.In order to increase the anti-interference of the simulating signal of optical sensor 34 output, phase differential to be set on code-disc 32 again, be the A ＇ phase code channel 32A ＇ and B ＇ phase code channel 32B ＇ of 90 °, and the phase differential of A phase code channel 32A and A ＇ phase code channel 32A ＇ it is 180 °.On A ＇ phase code channel 32A ＇, B ＇ phase code channel 32B ＇, be also respectively equipped with 2
nthe individual light shielding part being spacedly distributed and transmittance section.
With reference to Fig. 4-Fig. 8, the coding method of optomagnetic scrambler of the present invention, illustrates by following two embodiment.
Embodiment 1:
S1: when scrambler powers on, according to the rotation of scrambler rotary main shaft 40, from the magnetic test section digital signal X1 of Magnetic Sensor 21 outputs, be 0001000100010001, retain its high N position, the present embodiment N gets 8, after reservation most-significant byte, be 0001000100000000, thereby the scope that rotary main shaft 40 is rotated a circle is divided into 2
8the individual zoning Z that can meet accuracy requirement.The object that retains high N position is, when adopting the magnetic coding portion 20 of 16, its resolution can reach 16, but precision that can be definite can reach and reach at most 11 at most.So the present embodiment is in order to reach higher accuracy requirement, magnetic test section digital signal X1 retains most-significant byte.A, A ＇, B, the B ＇ phase code channel of the code-disc 32 of optical detection part 30 are also provided with 28 light shielding parts and transmittance section simultaneously, when the light step-and-shoot of light source 31 is during at the A of code-disc 32, A ＇, B, B ＇ phase code channel, can export respectively the sine wave signal with certain phase differential.
S2: from the optical detection part simulating signal of optical sensor 34 outputs, after analog to digital conversion circuit 11, export respectively A phase digital signal 10001010 (decimal number 10, symbol for just) and B phase digital signal 10010100 (decimal number 20, symbol for just).AD converter 11C adopts 8 bit resolutions, and most significant digit is sign bit, when most significant digit be 0 for negative, be 1 for just.
As shown in Figure 6, A phase digital signal and B phase digital signal are all positioned at first quartile, after division arithmetic, and A/B=0.5, then pass through arctangent cp cp operation arctan (A/B), trying to achieve angle value is 26 °.Because the phase differential of A phase code channel and B phase code channel is 90 °, in the present embodiment, code-disc 32 when being rotated counterclockwise, backward 90 ° than B phase signals of A phase signals, thus A phase digital signal and B phase digital signal respectively corresponding analog signals be sin θ and cos θ, pass through division arithmetic, be A/B=sin θ/cos θ=tan θ, then by arctangent cp cp operation, arctan (tan θ), can obtain θ value, the θ of the present embodiment is 26 °.If code-disc 32 is when turning clockwise, leading 90 ° than B phase signals of A phase signals, therefore A phase digital signal and B phase digital signal respectively corresponding analog signals be sin θ and-cos θ, by division arithmetic, i.e. A/B=sin θ/-cos θ=-tan θ, before carrying out arctangent cp cp operation, need first A/B to be got after opposite number, carry out arctangent cp cp operation, arctan (A/B), can obtain θ value again.
Light sense cycle △ is segmented, segmentation umber the present embodiment is got 256 parts, again by 26 °/360 ° * 256=18.5, round is 19, the position quantity signal Y that obtains reference position place light sense cycle △ is 19, corresponding binary number is 00010011 (after a light sense cycle △ segmentation, from its origin-to-destination, corresponding binary number is from 00000000 to 11111111).
S3: with reference to Fig. 7, judge the 0001000100010001 boundary value M that whether surpasses the magnetic test section 20 zoning Z in the light sense cycle △ at its place of the magnetic test section digital signal X1 of reference position output.
Magnetic test section 20 digital signal X1 (0001000100010001) and position quantity signal Y (00010011) are done to subtraction, obtain magnetic test section digital signal X2 (0001000011111110) corresponding to starting point of the light sense cycle △ at reference position place, the 9th of magnetic test section digital signal X2 is 1, illustrate that the starting point of light sense cycle △ is positioned at the second half section of zoning Z, the error condition that light sense cycle △ and magnetic test section zoning Z are described, belongs to situation shown in Fig. 7.During judgement, the 9th of magnetic test section digital signal X1 (0001000100010001) is 0, illustrate that this magnetic test section digital signal X1 is positioned at the first half section of zoning Z, and position quantity signal Y (00010011) is less than the intermediate value 128 of light sense cycle △, illustrate that magnetic test section digital signal X1 (0001000100010001) has surpassed boundary value M.
When surpassing boundary value M, magnetic test section digital signal X1 is retained to (0001000100000000) after most-significant byte the 8th and subtract after 1 (0001000000000000) and position quantity signal Y (00010011) union operation of optical detection part 30, obtain reference position signal (0001000000010011).The process of union operation, is about to lowest order alignment, then by operation of bits, obtains last operation result.
S4: after scrambler powers on, in conjunction with A phase digital signal and B phase digital signal rotate to again after certain angle, the increment signal of formation, in conjunction with reference position signal (0001000000010011), utilize conventional light increment type encryption algorithm, obtain rotation angle signal.Because light increment type encryption algorithm is prior art, therefore do not repeat them here.
Embodiment 2:
S1: when scrambler powers on, according to the rotation of scrambler rotary main shaft 40, from the magnetic test section digital signal X1 of Magnetic Sensor 21 output, being 0001110100010001, is that 0001110100000000 scope that rotary main shaft 40 is rotated a circle is divided into 2 thereby retain after its most-significant byte
8individual zoning Z.A, A ＇, B, the B ＇ phase code channel of the code-disc 32 of optical detection part 30 are also provided with 2 simultaneously
8individual light shielding part and transmittance section.
S2: from the optical detection part simulating signal of optical sensor 34 outputs, after analog to digital conversion circuit 11, export respectively A phase digital signal 00001010 (decimal number 10, symbol is for negative) and B phase digital signal 00010100 (decimal number 20, symbol is for negative), as shown in Figure 6, A phase digital signal and B phase digital signal are all positioned at fourth quadrant, after division arithmetic, A/B=0.5, then pass through arctangent cp cp operation, trying to achieve angle value is 26 °, due in fourth quadrant, so actual angle value should be 360 °-26 °=334 °.Light sense cycle △ is segmented, and segmentation mark gets 256, then by 334 °/360 ° * 256=237.5, rounding is 238, and the position quantity signal Y that obtains reference position place light sense cycle △ is 238, and corresponding binary number is 11101110.
S3: with reference to Fig. 8, judge the 0001110100010001 boundary value M that whether surpasses the magnetic test section 20 zoning Z in the light sense cycle △ at its place of the magnetic test section digital signal X1 of reference position output.
Magnetic test section digital signal X1 (0001110100010001) and position quantity signal Y (11101110) are done to subtraction, magnetic test section digital signal X2 corresponding to starting point that obtains the light sense cycle △ at reference position place is 0001110000100011, the 9th of magnetic test section digital signal X2 is 0, illustrate that the starting point of light sense cycle △ is positioned at the first half section of zoning Z, during judgement, the 9th of magnetic test section digital signal X1 (0001110100010001) is 0, illustrate that X1 is positioned at the first half section of zoning Z, and position quantity signal Y (11101110) is greater than the intermediate value 128 of light sense cycle △, illustrate that magnetic test section digital signal X1 (0001110100010001) has surpassed boundary value M.
When surpassing boundary value M, magnetic test section digital signal X1 is retained to (0001110100000000) after most-significant byte the 8th and subtract after 1 (0001110000000000) and position quantity signal Y (11101110) union operation of optical detection part 30, obtain reference position signal (0001110011101110).
S4: after scrambler powers on, in conjunction with A phase and the increment signal of B phase, and reference position signal (0001110011101110), with conventional light increment type encryption algorithm, obtains rotation angle signal.
Claims (6)
1. an optomagnetic scrambler, is characterized in that, comprising:
Magnetic test section (20), comprise magnet (22) and Magnetic Sensor (21), magnet (22) is fixedly mounted on rotary main shaft (40), according to the magnet (22) that rotarily drives of rotary main shaft (40), rotate, and from Magnetic Sensor (21) output digit signals;
Optical detection part (30), comprise light source (31), code-disc (32), quiet grating (33) and optical sensor (34), the irradiation code-disc (32) of light source (31) and quiet grating (33), the code-disc (32) that rotarily drives by rotary main shaft (40) rotates, and from optical sensor (34) outputting analog signal;
Control circuit unit (10), connect respectively Magnetic Sensor (21) and optical sensor (34), utilize the magnetic test section digital signal of Magnetic Sensor (21) output and the simulating signal of optical sensor (34) output to calculate and determine the anglec of rotation of rotary main shaft (40);
Described control circuit unit (10) comprising:
Analog to digital conversion circuit (11), is connected with the optical sensor (34) of optical detection part (30), and the simulating signal of optical sensor (34) output is converted to digital signal;
Reference position counting circuit (13), connect respectively Magnetic Sensor (21) and analog to digital conversion circuit (11), utilize the digital signal of analog to digital conversion circuit (11) output while powering on and the digital signal of magnetic test section (20) output to calculate and export reference position signal;
Rotation angle counting circuit (12), connect respectively reference position counting circuit (13) and analog to digital conversion circuit (11), the digital signal of the analog to digital conversion circuit after utilization powers on (11) output, and the initial position signal while powering on, calculate and export rotation angle signal;
It is A phase code channel (32A) and the B phase code channel (32B) of 90 ° that described code-disc (32) is provided with phase differential, and on A phase code channel (32A) and B phase code channel (32B), is all respectively equipped with 2N light shielding part and the transmittance section being spacedly distributed.
2. optomagnetic scrambler according to claim 1, it is characterized in that, it is A phase code channel (32A) and the A ＇ phase code channel (32A ＇) of 180 ° that described code-disc (32) is provided with phase differential, with A phase code channel (32A) phase differential be the B phase code channel (32B) of 90 °, with B phase code channel (32B) phase differential be the B ＇ phase code channel (32B ＇) of 180 °, and be respectively equipped with 2N light shielding part and the transmittance section being spacedly distributed on A phase code channel (32A), A ＇ phase code channel (32A ＇), B phase code channel (32B), B ＇ phase code channel (32B ＇).
3. optomagnetic scrambler according to claim 1, it is characterized in that, described analog to digital conversion circuit (11) comprises A phase differential amplifier circuit (11A), B phase differential amplifier circuit (11B) and AD converter (11C), and A phase differential amplifier circuit (11A), B phase differential amplifier circuit (11B) are connected optical sensor (34) respectively with AD converter (11C).
4. a coding method for optomagnetic scrambler, is characterized in that, comprising:
S1: when scrambler powers on, according to the rotation of scrambler rotary main shaft (40), from the magnetic test section digital signal X1 of Magnetic Sensor (21) output, retain its high N position and process, thereby the scope that rotary main shaft (40) is rotated a circle is divided into 2
nindividual zoning Z;
S2: from the simulating signal of optical sensor (34) output, after analog to digital conversion circuit (11), export respectively A phase digital signal and B phase digital signal, in reference position counting circuit (13), A phase digital signal and B phase digital signal are carried out to division arithmetic, arctangent cp cp operation, obtain the position quantity signal Y of reference position place light sense cycle △;
S3: judge whether the magnetic test section digital signal X1 of reference position output surpasses the boundary value M of magnetic test section (20) the zoning Z in the light sense cycle △ at its place; When not surpassing boundary value M, by the magnetic test section digital signal X1 of high N position directly and the position quantity signal Y union operation of optical detection part (30), obtain reference position signal; When surpassing boundary value M, the N position of the magnetic test section digital signal X1 of high N position " is subtracted to 1 " afterwards and the position quantity signal union operation of optical detection part (30), obtain reference position signal;
S4: after scrambler powers on, in conjunction with A phase digital signal, B phase digital signal and reference position signal, calculate and export rotation angle signal.
5. coding method according to claim 4, it is characterized in that, magnetic test section digital signal X1 and position quantity signal Y are done to subtraction, magnetic test section digital signal X2 corresponding to starting point of the light sense cycle △ at reference position place, the N+1 position of magnetic test section digital signal X2 is 0, illustrates that the starting point of light sense cycle △ is positioned at the first half section of zoning Z; During judgement, the N+1 position of magnetic test section digital signal X1 is 0, and position quantity signal Y is greater than the intermediate value of light sense cycle △, illustrates that magnetic test section digital signal X1 has surpassed boundary value M; Otherwise for not surpassing boundary value M;
If the N+1 position of magnetic test section digital signal X2 is 1, illustrate that the starting point of light sense cycle △ is positioned at the second half section of zoning Z; During judgement, the N+1 position of magnetic test section digital signal X1 is 1, and position quantity signal Y is less than the intermediate value of light sense cycle △, illustrates that magnetic test section digital signal X1 does not surpass boundary value M; Otherwise for surpassing boundary value M.
6. coding method according to claim 4, is characterized in that, when scrambler powers on, from the magnetic test section digital signal X1 of Magnetic Sensor (21) output, retains its high N position and processes, wherein N≤11.
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| CN108827352A (en) * | 2018-06-29 | 2018-11-16 | 广东工业大学 | A kind of encoder and its code-disc |
| CN109798928A (en) * | 2019-01-23 | 2019-05-24 | 长春理工大学 | Based on the reciprocal shaft-position encoder gamut accuracy checking method of corner |
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| CN108827352A (en) * | 2018-06-29 | 2018-11-16 | 广东工业大学 | A kind of encoder and its code-disc |
| CN109798928A (en) * | 2019-01-23 | 2019-05-24 | 长春理工大学 | Based on the reciprocal shaft-position encoder gamut accuracy checking method of corner |
| CN109798928B (en) * | 2019-01-23 | 2022-01-28 | 长春理工大学 | Full-range precision detection method of shaft-position encoder based on rotation angle reciprocal |
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| WO2021017074A1 (en) * | 2019-07-26 | 2021-02-04 | 浙江禾川科技股份有限公司 | Optical-magnetic hybrid encoder system |
| WO2021017075A1 (en) * | 2019-07-26 | 2021-02-04 | 浙江禾川科技股份有限公司 | Position determination method, apparatus and device for hybrid encoder, and readable storage medium |
| CN113050699A (en) * | 2020-08-30 | 2021-06-29 | 惠州华阳通用电子有限公司 | Control method and device based on magnetic encoder |
| CN113050699B (en) * | 2020-08-30 | 2024-01-12 | 惠州华阳通用电子有限公司 | Control method and device based on magnetic encoder |
| CN112880712A (en) * | 2021-01-18 | 2021-06-01 | 珠海格力电器股份有限公司 | Magneto-optical absolute encoder, and method and device for determining position of moving equipment |
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