CN106655640B - The absolute position signal corrected value of mixed photoelectric encoder determines method - Google Patents
The absolute position signal corrected value of mixed photoelectric encoder determines method Download PDFInfo
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Abstract
Method is determined the invention discloses a kind of absolute position signal corrected value of mixed photoelectric encoder, its system used includes microprocessor, Hall current sensor, power module, A/D conversion circuit modules, photoelectric encoder signal conditioning circuit, current signal conditioning circuit and the three phase power driver for driving the servomotor equipped with mixed photoelectric encoder；Its method includes step：First, mixed photoelectric encoder and servomotor are co-axially mounted；2nd, mixed photoelectric encoder alignment error corrected value is obtained；3rd, in the case where not considering mixed photoelectric encoder alignment error, the corrected value of absolute position signal during alignment error is not considered；4th, the error correction value of the absolute position signal of each sector of final mixed photoelectric encoder is determined.The present invention is reasonable in design, realizes that convenient and cost is low, using easy to operate, corrects efficiency high, correction accuracy is high, uses manpower and material resources sparingly, practical, is easy to promote the use of.
Description
Technical field
The invention belongs to encoder absolute position signal calibration technique field, and in particular to a kind of mixed photoelectric encoder
Absolute position signal corrected value determine method.
Background technology
In Serve Motor Control field, in order to carry out the accurate control of position or speed and improve the control of servomotor
Performance, generally requires to know the position in the initial position of rotor and running and velocity information, and this can pass through peace
Cartridge rotor position sensor is obtained.Incremental photo encoder wherein with absolute location information U, V, W, with initial alignment letter
The features such as breath, location identification precision height, moderate cost, examined in all kinds of motor rotor positions for needing initial positioning information and speed
Survey field is widely used.For mixed photoelectric encoder, the precision of general absolute position signal is far below incremental position
The precision of signal.Absolute position signal is generally used for starting positioning, and relative position signal is generally used for carrying out high-precision fortune
Row control.
Absolute position signal and relative position signal be all as other kinds of sensor, in mixed photoelectric encoder
There is deviation, because absolute position signal precision is low, deviation range is also big, this on servomotor startability influence compared with
Greatly；If when carrying out position, speed monitoring or control using absolute position signal in running control, can also introduce corresponding mistake
Difference, influences the control performance of servo-drive system.Accordingly, it would be desirable to absolute position signal is demarcated and calibrated, at present, hybrid light
Photoelectric coder absolute position signal is all demarcated by producer, and user has no effective method and is corrected.
The content of the invention
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that providing a kind of structure letter
It is single, reasonable in design, realize convenient and cost it is low, using easy to operate, correction efficiency high, correction accuracy is high, use manpower and material resources sparingly,
Practical, using effect is good, be easy to the absolute position signal corrected value for the mixed photoelectric encoder promoted the use of to determine system
System.
In order to solve the above technical problems, the technical solution adopted by the present invention is：The absolute position of mixed photoelectric encoder
Signal correction value determines system, it is characterised in that：Including microprocessor, for the DC bus current to being powered to servomotor
The Hall current sensor detected in real time and the power module powered for each power unit in system, the microprocessor
Input be terminated with A/D conversion circuit modules and for mixed photoelectric encoder is detected servomotor rotation it is absolute
Position signalling and relative position signal are amplified the photoelectric encoder signal conditioning circuit with filtering process, the A/D conversions
The current signal that the input of circuit module is terminated with for being amplified conditioning to the signal that Hall current sensor is exported is nursed one's health
Circuit, the output end of the Hall current sensor and the input of current signal conditioning circuit are connected, the photoelectric encoder
The input of signal conditioning circuit is connected with the output end of mixed photoelectric encoder, and the output of the microprocessor is terminated with using
In the three phase power driver of servomotor of the driving equipped with mixed photoelectric encoder, the servomotor drives with three phase power
The output end connection of dynamic device.
The absolute position signal corrected value of above-mentioned mixed photoelectric encoder determines system, it is characterised in that：It is described micro-
Processor is digital signal processor DSP IC30F4012.
The absolute position signal corrected value of above-mentioned mixed photoelectric encoder determines system, it is characterised in that：It is described suddenly
The model CSM300B of your current sensor.
The absolute position signal corrected value of above-mentioned mixed photoelectric encoder determines system, it is characterised in that：Described three
The model IR2130 of phase analog line driver.
The absolute position signal corrected value of above-mentioned mixed photoelectric encoder determines system, it is characterised in that：It is described mixed
The model AMT313Q of box-like photoelectric encoder.
Present invention also offers a kind of method and step is simple, reasonable in design, realization is convenient, correction efficiency high, correction accuracy
The absolute position signal corrected value of high mixed photoelectric encoder determines method, it is characterised in that this method includes following step
Suddenly：
Step 1: mixed photoelectric encoder and servomotor are co-axially mounted；
Step 2: the DC bus current signal that microprocessor collection Hall current sensor is detected, and signal is entered
Row analyzing and processing, obtains mixed photoelectric encoder alignment error corrected value, detailed process is：
The collection and processing of DC bus current signal when step 201, alignment error corrected value are zero：Microprocessor is set
Mixed photoelectric encoder alignment error corrected value DT initial value is zero, the driver driving servomotor rotation of control three phase power
Turn；In servomotor rotary course, Hall current sensor is examined in real time to the DC bus current powered to servomotor
Survey and by the signal output detected to current signal conditioning circuit, current signal conditioning circuit is exported to Hall current sensor
Signal be amplified conditioning after export and give A/D conversion circuit modules, the dc bus that A/D conversion circuit modules are received to it
Current signal is sampled and is converted to and exported after data signal to microprocessor, and microprocessor receives A/D conversion circuit modules
The digital value to its DC bus current signal is exported, and asks for the average value X in time T；
Step 202, alignment error corrected value are the collection of DC bus current signal when alignment error corrects minimum angles
And processing：The corresponding electrical angle of delta pulse that microprocessor can be recognized using mixed photoelectric encoder is corrected as alignment error
Minimum angles Δ, is set as+1, and alignment error corrected value DT is increased from initial value by alignment error corrected value adjustment direction F
After Δ, reception A/D conversion circuit modules export the digital value to its DC bus current signal, and ask for flat in time T
Average Y；
Step 203, point situation compare X and Y size, carry out the tune of mixed photoelectric encoder alignment error corrected value
Whole, detailed process is：
When F is+1, compare X and Y size；
As X≤Y, Y value is assigned to X by microprocessor, and alignment error corrected value DT is reduced after Δ, and it is -1 to update F values,
Receive A/D conversion circuit modules and export digital value to its DC bus current signal, and ask for the average value in time T,
The result tried to achieve is assigned to Y；
Work as X>During Y, Y value is assigned to X by microprocessor, and alignment error corrected value DT is increased after Δ, and it is+1 to update F values,
Receive A/D conversion circuit modules and export digital value to its DC bus current signal, and ask for the average value in time T,
The result tried to achieve is assigned to Y；
When F is -1, compare X and Y size；
As X≤Y, X value is assigned to Y by microprocessor, and alignment error corrected value DT is increased after Δ, and it is+1 to update F values,
Receive A/D conversion circuit modules and export digital value to its DC bus current signal, and ask for the average value in time T,
The result tried to achieve is assigned to Y；
Work as X>During Y, X value is assigned to Y by microprocessor, and alignment error corrected value DT is increased after Δ, and it is -1 to update F values,
Receive A/D conversion circuit modules and export digital value to its DC bus current signal, and ask for the average value in time T,
The result tried to achieve is assigned to Y；
Step 204, determine final mixed photoelectric encoder alignment error corrected value：Step 203 is repeated, until
When alignment error corrected value DT value continuously the swing state of n times occurs between DT+ Δs and DT- Δs, by alignment error now
Corrected value DT is defined as final mixed photoelectric encoder alignment error corrected value；Wherein, N is positive integer and value is 100
~350；
Step 3: in the case where not considering mixed photoelectric encoder alignment error, the detection of mixed photoelectric encoder
The absolute position signal and relative position signal of servomotor rotation, the relative position letter that microprocessor is rotated using servomotor
Number absolute position signal is corrected, the corrected value of absolute position signal during alignment error is not considered, detailed process is：
The quantity k for the absolute position signal that step 301, microprocessor can be detected according to mixed photoelectric encoder, will
360 ° of mechanical angle is divided into N number of sector within one week, wherein, N=2k；
Step 302, microprocessor set the initial error corrected value of the absolute position signal of each sector as 0；
Step 303, microprocessor control three phase power driver driving servomotor rotation, servomotor rotary course
In, the absolute position signal and relative position signal that mixed photoelectric encoder rotates to servomotor detect in real time and will
The signal output detected gives photoelectric encoder signal conditioning circuit, the letter that photoelectric encoder signal conditioning circuit is received to it
Number it is amplified with after filtering process, exports to microprocessor；
The absolute position for the servomotor rotation that step 304, microprocessor are exported to photoelectric encoder signal conditioning circuit
Signal and relative position signal carry out periodic samples, and detect the leading edge position of the index signal Z in relative position signal,
When detecting index signal Z leading edge position, index signal Z leading edge position is regard as mechanical location zero point, slave
Tool position zero point starts, read servomotor rotate a circle mechanical angle when each sector in relative position signal umber of pulse,
And record the total count value of relative position signal umber of pulse after servomotor rotates a circle；By the relative position in x-th of sector
Signal pulse number scale is SPx, and the total count value of relative position signal umber of pulse is designated as PM after servomotor is rotated a circle；Its
In, x value is 1~N natural number；
Step 305, microprocessor are according to formulaCalculate the relative position signal umber of pulse obtained in single sector
Theoretical value SP；
Step 306, microprocessor update the exhausted of each sector when not considering alignment error according to formula S CMpx=SP-SPx
To the error correction value of position signalling, wherein, SCMpx is not consider the absolute position signal of x-th of sector during alignment error
Error correction value；
Step 4: when microprocessor will not consider alignment error each sector of mixed photoelectric encoder absolute position
The error correction value of signal carries out arithmetic with mixed photoelectric encoder alignment error corrected value and is superimposed, and obtains considering alignment error
When mixed photoelectric encoder each sector absolute position signal error correction value, and will consider alignment error when mix
The error correction value of the absolute position signal of each sector of formula photoelectric encoder is defined as final mixed photoelectric encoder
Each sector absolute position signal error correction value.
Above-mentioned method, it is characterised in that：The value of T described in step 201, step 202 and step 203 is 20ms.
Above-mentioned method, it is characterised in that：The value of Δ described in step 202 is 0.176 °, N described in step 204
Value is 200.
Above-mentioned method, it is characterised in that：Microprocessor is exported to photoelectric encoder signal conditioning circuit in step 304
The sampling period that the absolute position signal and relative position signal of servomotor rotation carry out periodic samples is 50us.
Above-mentioned method, it is characterised in that：The value of k described in step 301 is 3, the rotation of servomotor described in step 304
The absolute position signal turned includes U phase signals, V phase signals and W phase signals, the relative position signal bag of the servomotor rotation
Include A phase signals, B phase signals and index signal Z；Microprocessor described in step 304 reads servo since mechanical position zero point
Motor rotate a circle mechanical angle when each sector in relative position signal umber of pulse when, by U phase signals, V phase signals and W phases
The decimal number that the combination of the non-uniform binary value of signal is determined is defined as current sector number.
The present invention has advantages below compared with prior art：
1st, the absolute position signal corrected value of mixed photoelectric encoder of the present invention determines the simple in construction of system, and design is closed
Reason, realizes that convenient and cost is low.
2nd, the absolute position signal corrected value of mixed photoelectric encoder of the present invention determines that the use of system is easy to operate.
3rd, the present invention utilizes the higher relative position signal of the mixed photoelectric encoder accuracy absolute position relatively low to precision
Confidence number is corrected, and is also considered error in mounting position in progress absolute position signal timing, is simplified existing mixed light
The difficulty and complexity of photoelectric coder absolute position signal separate-blas estimation technology, can in the case where not influenceing application system
Automatically the demarcation to absolute position signal is realized, the too many manpower and materials without expending, correction accuracy is high.
4th, the present invention can significantly simplify mixing to the correction efficiency high of the absolute position signal of mixed photoelectric encoder
The trimming process of the absolute position signal of formula photoelectric encoder, without increasing extra frock.
5th, the absolute position signal corrected value of mixed photoelectric encoder of the present invention determines that the method and step of method is simple, if
Meter is reasonable, and it is convenient to realize, corrects efficiency high, and correction accuracy is high.
6th, the present invention's is practical, and using effect is good, is easy to promote the use of.
In summary, it is of the invention reasonable in design, realize that convenient and cost is low, use easy to operate, correct efficiency high, school
Positive precision is high, uses manpower and material resources sparingly, practical, using effect is good, is easy to promote the use of.
Below by drawings and examples, technical scheme is described in further detail.
Brief description of the drawings
Fig. 1 determines the stereogram of system for the absolute position signal corrected value of mixed photoelectric encoder of the present invention.
Fig. 2 determines the method flow frame of method for the absolute position signal corrected value of mixed photoelectric encoder of the present invention
Figure.
Description of reference numerals:
1-microprocessor；2-A/D conversion circuit modules；3-three phase power driver；
4-current signal conditioning circuit；5-servomotor；6-Hall current sensor；
7-power module；8-photoelectric encoder signal conditioning circuit；
9-mixed photoelectric encoder.
Embodiment
As shown in figure 1, the absolute position signal corrected value of the mixed photoelectric encoder of the present invention determines system, including it is micro-
Processor 1, for the Hall current sensor 6 that is detected in real time to the DC bus current powered to servomotor 5 and it is
The power module 7 that each power unit is powered in system, the input of the microprocessor 1 be terminated with A/D conversion circuit modules 2 and
The absolute position signal and relative position signal rotated for the servomotor 5 detected to mixed photoelectric encoder 9 is carried out
Amplification and the photoelectric encoder signal conditioning circuit 8 of filtering process, the input of the A/D conversion circuit modules 2 are terminated with being used for
The current signal conditioning circuit 4 of conditioning, the Hall current sensor are amplified to the signal that Hall current sensor 6 is exported
6 output end is connected with the input of current signal conditioning circuit 4, the input of the photoelectric encoder signal conditioning circuit 8
It is connected with the output end of mixed photoelectric encoder 9, the output of the microprocessor 1 is terminated with being used to drive that hybrid light is housed
The three phase power driver 3 of the servomotor 5 of photoelectric coder, the output end of the servomotor 5 and three phase power driver 3 connects
Connect.
In the present embodiment, the microprocessor 1 is digital signal processor DSP IC30F4012.
In the present embodiment, the model CSM300B of the Hall current sensor 6.
In the present embodiment, the model IR2130 of the three phase power driver 3.
In the present embodiment, the model AMT313Q of the mixed photoelectric encoder 9.
When it is implemented, the current signal conditioning circuit 4 is the amplifying circuit being made up of amplifier TL082.
In the present embodiment, the model GK6105 of the servomotor 5.
As shown in Fig. 2 the absolute position signal corrected value of the mixed photoelectric encoder of the present invention determines method, including with
Lower step：
Step 1: mixed photoelectric encoder 9 is co-axially mounted with servomotor 5；
Step 2: the DC bus current signal that the collection Hall current sensor 6 of microprocessor 1 is detected, and to signal
Analyzed and processed, obtain mixed photoelectric encoder alignment error corrected value, detailed process is：
The collection and processing of DC bus current signal when step 201, alignment error corrected value are zero：Microprocessor 1 is set
The initial value for determining mixed photoelectric encoder alignment error corrected value DT is zero, and control three phase power driver 3 drives servo electricity
Machine 5 rotates；In the rotary course of servomotor 5,6 pairs of DC bus currents powered to servomotor 5 of Hall current sensor enter
Row detects and by the signal output detected that to current signal conditioning circuit 4 current signal conditioning circuit 4 is to Hall current in real time
The signal that sensor 6 is exported is exported to A/D conversion circuit modules 2 after being amplified conditioning, and A/D conversion circuit modules 2 connect to it
The DC bus current signal received is sampled and is converted to and exported after data signal to microprocessor 1, and microprocessor 1 is received
A/D conversion circuit modules 2 export the digital value to its DC bus current signal, and ask for the average value X in time T；Tool
When body is implemented, the microprocessor 1 produces the PWM drive signal that dutycycle is 20% by built-in PWM module, controls three-phase
Analog line driver 3 is rotated with " state of three-phase six " mode activated servomotor 5, i.e., three phase power driver 3 is according to microprocessor 1
Export to its PWM drive signal, drive servomotor 5 by the corresponding winding of servomotor 5 with accessing positive source or power supply
Rotation；The DC bus current signal that A/D conversion circuit modules 2 are received with 10KHz sample frequency to it is sampled；
Step 202, alignment error corrected value are the collection of DC bus current signal when alignment error corrects minimum angles
And processing：The corresponding electrical angle of delta pulse that microprocessor 1 can be recognized using mixed photoelectric encoder is alignment error school
Positive minimum angles Δ, is set as+1, and alignment error corrected value DT is increased from initial value by alignment error corrected value adjustment direction F
After big Δ, reception A/D conversion circuit modules 2 export the digital value to its DC bus current signal, and ask in time T
Average value Y；
Step 203, point situation compare X and Y size, carry out the tune of mixed photoelectric encoder alignment error corrected value
Whole, detailed process is：
When F is+1, compare X and Y size；
As X≤Y, Y value is assigned to X by microprocessor 1, and alignment error corrected value DT is reduced after Δ, update F values be-
1, reception A/D conversion circuit module 2 exports the digital value to its DC bus current signal, and asks for being averaged in time T
Value, Y is assigned to by the result tried to achieve；
Work as X>During Y, Y value is assigned to X by microprocessor 1, and alignment error corrected value DT is increased after Δ, and it is+1 to update F values,
Receive A/D conversion circuit modules 2 and export digital value to its DC bus current signal, and ask for the average value in time T,
The result tried to achieve is assigned to Y；
When F is -1, compare X and Y size；
As X≤Y, X value is assigned to Y by microprocessor 1, and alignment error corrected value DT is increased after Δ, update F values be+
1, reception A/D conversion circuit module 2 exports the digital value to its DC bus current signal, and asks for being averaged in time T
Value, Y is assigned to by the result tried to achieve；
Work as X>During Y, X value is assigned to Y by microprocessor 1, and alignment error corrected value DT is increased after Δ, and it is -1 to update F values,
Receive A/D conversion circuit modules 2 and export digital value to its DC bus current signal, and ask for the average value in time T,
The result tried to achieve is assigned to Y；
Step 204, determine final mixed photoelectric encoder alignment error corrected value：Step 203 is repeated, until
When alignment error corrected value DT value continuously the swing state of n times occurs between DT+ Δs and DT- Δs, by alignment error now
Corrected value DT is defined as final mixed photoelectric encoder alignment error corrected value；Wherein, N is positive integer and value is 100
~350；
Step 3: in the case where not considering the alignment error of mixed photoelectric encoder 9, mixed photoelectric encoder 9 is examined
Absolute position signal and relative position signal that servomotor 5 rotates are surveyed, microprocessor 1 is relative using the rotation of servomotor 5
Position signalling is corrected to absolute position signal, the corrected value of absolute position signal during alignment error is not considered, specifically
Process is：
The quantity k for the absolute position signal that step 301, microprocessor 1 can be detected according to mixed photoelectric encoder, will
360 ° of mechanical angle is divided into N number of sector within one week, wherein, N=2k；
Step 302, microprocessor 1 set the initial error corrected value of the absolute position signal of each sector as 0；
Step 303, the control three phase power of microprocessor 1 driver 3 drive servomotor 5 to rotate, and servomotor 5 is rotated through
Cheng Zhong, the absolute position signal and relative position signal that mixed photoelectric encoder 9 rotates to servomotor 5 is detected in real time
And by the signal output detected to photoelectric encoder signal conditioning circuit 8, photoelectric encoder signal conditioning circuit 8 is received to it
To signal be amplified and after filtering process, export to microprocessor 1；When it is implemented, the photoelectric encoder signal is adjusted
Reason circuit 8 by and the signal condition that receives be 0 or 3.3V pulse signal；The microprocessor 1 passes through built-in PWM module
The PWM drive signal that dutycycle is 10% is produced, control three phase power driver 3 is with " state of three-phase six " mode activated servo electricity
Machine 5 is rotated, i.e., three phase power driver 3 is exported to its PWM drive signal according to microprocessor 1, and servomotor 5 is corresponding
With accessing positive source or power supply, driving servomotor 5 rotates winding；
The absolute position that the servomotor 5 that step 304, microprocessor 1 are exported to photoelectric encoder signal conditioning circuit 8 rotates
Confidence number and relative position signal carry out periodic samples, and detect the rising edge position of the index signal Z in relative position signal
Put, when detecting index signal Z leading edge position, using index signal Z leading edge position as mechanical location zero point, from
Mechanical location zero point starts, read servomotor 5 rotate a circle mechanical angle when each sector in relative position signal pulse
Number, and record the total count value of relative position signal umber of pulse after servomotor 5 rotates a circle；Will be relative in x-th of sector
Position signalling umber of pulse is designated as SPx, and the total count value of relative position signal umber of pulse is designated as after servomotor 5 is rotated a circle
PM；Wherein, x value is 1~N natural number；
Step 305, microprocessor 1 are according to formulaCalculate the relative position signal pulse obtained in single sector
Several theoretical value SP；
Step 306, microprocessor 1 update each sector when not considering alignment error according to formula S CMpx=SP-SPx
The error correction value of absolute position signal, wherein, SCMpx is the absolute position signal for not considering x-th of sector during alignment error
Error correction value；
Step 4: when microprocessor 1 will not consider alignment error each sector of mixed photoelectric encoder 9 absolute position
The error correction value of confidence number carries out arithmetic with mixed photoelectric encoder alignment error corrected value and is superimposed, and obtains considering to install missing
The error correction value of the absolute position signal of each sector of mixed photoelectric encoder 9 when poor, and when will consider alignment error
The error correction value of the absolute position signal of each sector of mixed photoelectric encoder 9 is defined as final mixed photoelectric and compiled
The error correction value of the absolute position signal of each sector of code device 9.
In the present embodiment, the value of T described in step 201, step 202 and step 203 is 20ms.
In the present embodiment, the value of Δ described in step 202 is 0.176 °, and the value of N described in step 204 is 200.
In the present embodiment, the servomotor 5 that microprocessor 1 is exported to photoelectric encoder signal conditioning circuit 8 in step 304
The sampling period that the absolute position signal and relative position signal of rotation carry out periodic samples is 50us.
In the present embodiment, the value of k described in step 301 is 3, the absolute position of the rotation of servomotor 5 described in step 304
Confidence number includes U phase signals, V phase signals and W phase signals, and the relative position signal that the servomotor 5 rotates is believed including A
Number, B phase signals and index signal Z；Microprocessor 1 described in step 304 reads servomotor 5 since mechanical position zero point
Rotate a circle mechanical angle when each sector in relative position signal umber of pulse when, by U phase signals, V phase signals and W phase signals
The decimal number determined of combination of non-uniform binary value be defined as current sector number.When it is implemented, when U phase signals
During for 0, V phase signals position, 0, W phase signals position 1, current sector number is 001 decimal number 1 determined；When U phase signals are 0, V
During phase signals position 1, W phase signals position 0, current sector number is 010 decimal number 2 determined；When U phase signals are that 0, V believes
Number position 1, during W phase signals position 1, current sector number is 011 decimal number 3 determined；When U phase signals are 1, V phase signals position
During 0, W phase signals position 0, current sector number is 100 decimal numbers 4 determined；When U phase signals are 1, V phase signals position, 0, W phases
During signal position 1, current sector number is 101 decimal numbers 5 determined；When U phase signals are 1, V phase signals position, 1, W phase signals
During position 0, current sector number is 110 decimal numbers 6 determined.
For example, in step 304, the relative position signal umber of pulse SP1=662 in the 1st sector；The rotation of servomotor 5 one
The total count value of relative position signal umber of pulse is designated as PM=4096 after week.In step 305, SP=4096/6 ≈ 683.Step
Calculated in 306 according to formula S CMpx=SP-SPx and obtain SCMpx=683-662=21.
It is described above, only it is presently preferred embodiments of the present invention, not the present invention is imposed any restrictions, it is every according to the present invention
Any simple modification, change and equivalent structure change that technical spirit is made to above example, still fall within skill of the present invention
In the protection domain of art scheme.
Claims (9)
1. a kind of absolute position signal corrected value of mixed photoelectric encoder determines method, its system used includes microprocessor
Device (1), for the Hall current sensor (6) that is detected in real time to the DC bus current powered to servomotor (5) and
For the power module (7) that each power unit is powered in system, the input of the microprocessor (1) is terminated with A/D change-over circuit moulds
Block (2) and the absolute position signal of servomotor (5) rotation for being detected to mixed photoelectric encoder (9) and relative
Position signalling is amplified the photoelectric encoder signal conditioning circuit (8) with filtering process, the A/D conversion circuit modules (2)
Input be terminated with being used for being amplified the current signal conditioning circuit of conditioning to the signal that Hall current sensor (6) is exported
(4), the output end of the Hall current sensor (6) is connected with the input of current signal conditioning circuit (4), and the photoelectricity is compiled
The input of code device signal conditioning circuit (8) is connected with the output end of mixed photoelectric encoder (9), the microprocessor (1)
Output be terminated with for drive equipped with mixed photoelectric encoder servomotor (5) three phase power driver (3), it is described
Servomotor (5) is connected with the output end of three phase power driver (3)；Characterized in that, this method comprises the following steps：
Step 1: mixed photoelectric encoder (9) is co-axially mounted with servomotor (5)；
Step 2: the DC bus current signal that microprocessor (1) collection Hall current sensor (6) is detected, and to signal
Analyzed and processed, obtain mixed photoelectric encoder alignment error corrected value, detailed process is：
The collection and processing of DC bus current signal when step 201, alignment error corrected value are zero：Microprocessor (1) is set
Mixed photoelectric encoder alignment error corrected value DT initial value is zero, control three phase power driver (3) driving servo electricity
Machine (5) rotates；In servomotor (5) rotary course, Hall current sensor (6) is female to the direct current powered to servomotor (5)
Line current detect in real time and gives current signal conditioning circuit (4), current signal conditioning circuit by the signal output detected
(4) signal that Hall current sensor (6) is exported is amplified to export after conditioning and gives A/D conversion circuit modules (2), A/D turns
Change the DC bus current signal that circuit module (2) receives to it and sampled and be converted to and exported after data signal to micro- place
Device (1) is managed, microprocessor (1) reception A/D conversion circuit modules (2) export the digital value to its DC bus current signal,
And ask for the average value X in time T；
Step 202, alignment error corrected value are the collection of DC bus current signal and place when alignment error corrects minimum angles
Reason：The corresponding electrical angle of delta pulse that microprocessor (1) can be recognized using mixed photoelectric encoder is corrected as alignment error
Minimum angles Δ, is set as+1, and alignment error corrected value DT is increased from initial value by alignment error corrected value adjustment direction F
After Δ, reception A/D conversion circuit modules (2) export the digital value to its DC bus current signal, and ask in time T
Average value Y；
Step 203, point situation compare X and Y size, carry out the adjustment of mixed photoelectric encoder alignment error corrected value, tool
Body process is：
When F is+1, compare X and Y size；
As X≤Y, Y value is assigned to X by microprocessor (1), and alignment error corrected value DT is reduced after Δ, and it is -1 to update F values,
Reception A/D conversion circuit modules (2) export the digital value to its DC bus current signal, and ask for being averaged in time T
Value, Y is assigned to by the result tried to achieve；
Work as X>During Y, Y value is assigned to X by microprocessor (1), and alignment error corrected value DT is increased after Δ, and it is+1 to update F values, is connect
Receive A/D conversion circuit modules (2) and export digital value to its DC bus current signal, and ask for the average value in time T,
The result tried to achieve is assigned to Y；
When F is -1, compare X and Y size；
As X≤Y, X value is assigned to Y by microprocessor (1), and alignment error corrected value DT is increased after Δ, and it is+1 to update F values,
Reception A/D conversion circuit modules (2) export the digital value to its DC bus current signal, and ask for being averaged in time T
Value, Y is assigned to by the result tried to achieve；
Work as X>During Y, X value is assigned to Y by microprocessor (1), and alignment error corrected value DT is increased after Δ, and it is -1 to update F values, is connect
Receive A/D conversion circuit modules (2) and export digital value to its DC bus current signal, and ask for the average value in time T,
The result tried to achieve is assigned to Y；
Step 204, determine final mixed photoelectric encoder alignment error corrected value：Step 203 is repeated, until installing
When error correction value DT value continuously the swing state of n times occurs between DT+ Δs and DT- Δs, alignment error now is corrected
Value DT is defined as final mixed photoelectric encoder alignment error corrected value；Wherein, N be positive integer and value be 100~
350；
Step 3: in the case where not considering mixed photoelectric encoder (9) alignment error, mixed photoelectric encoder (9) inspection
The absolute position signal and relative position signal of servomotor (5) rotation are surveyed, microprocessor (1) utilizes servomotor (5) rotation
Relative position signal absolute position signal is corrected, the correction of absolute position signal during alignment error is not considered
It is worth, detailed process is：
The quantity k for the absolute position signal that step 301, microprocessor (1) can be detected according to mixed photoelectric encoder, by one
The mechanical angle in 360 ° of week is divided into N number of sector, wherein, N=2k；
Step 302, microprocessor (1) set the initial error corrected value of the absolute position signal of each sector as 0；
Step 303, microprocessor (1) control three phase power driver (3) driving servomotor (5) rotation, servomotor (5) rotation
During turning, the absolute position signal and relative position signal that mixed photoelectric encoder (9) rotates to servomotor (5) are carried out
The signal output detected is simultaneously given photoelectric encoder signal conditioning circuit (8), photoelectric encoder signal condition electricity by detection in real time
Road (8) signal that it is received is amplified and filtering process after, export and give microprocessor (1)；
It is absolute that the servomotor (5) that step 304, microprocessor (1) are exported to photoelectric encoder signal conditioning circuit (8) rotates
Position signalling and relative position signal carry out periodic samples, and detect the rising edge of the index signal Z in relative position signal
Position, when detecting index signal Z leading edge position, using index signal Z leading edge position as mechanical location zero point,
Since mechanical position zero point, read servomotor (5) rotate a circle mechanical angle when each sector in relative position signal
Umber of pulse, and record the total count value of relative position signal umber of pulse after servomotor (5) rotates a circle；By in x-th of sector
Relative position signal umber of pulse be designated as SPx, the tale of relative position signal umber of pulse after servomotor (5) is rotated a circle
Value is designated as PM；Wherein, x value is 1~N natural number；
Step 305, microprocessor (1) are according to formulaCalculate the relative position signal umber of pulse obtained in single sector
Theoretical value SP；
Step 306, microprocessor (1) update the exhausted of each sector when not considering alignment error according to formula S CMpx=SP-SPx
To the error correction value of position signalling, wherein, SCMpx is not consider the absolute position signal of x-th of sector during alignment error
Error correction value；
Step 4: microprocessor (1) will not consider the absolute position of each sector of mixed photoelectric encoder (9) during alignment error
The error correction value of confidence number carries out arithmetic with mixed photoelectric encoder alignment error corrected value and is superimposed, and obtains considering to install missing
The error correction value of the absolute position signal of each sector of mixed photoelectric encoder (9) when poor, and alignment error will be considered
When mixed photoelectric encoder (9) the error correction value of absolute position signal of each sector be defined as final hybrid light
The error correction value of the absolute position signal of each sector of photoelectric coder (9).
2. the absolute position signal corrected value according to the mixed photoelectric encoder described in claim 1 determines method, its feature
It is：The microprocessor (1) is digital signal processor DSP IC30F4012.
3. the absolute position signal corrected value according to the mixed photoelectric encoder described in claim 1 determines method, its feature
It is：The model CSM300B of the Hall current sensor (6).
4. the absolute position signal corrected value according to the mixed photoelectric encoder described in claim 1 determines method, its feature
It is：The model IR2130 of the three phase power driver (3).
5. the absolute position signal corrected value according to the mixed photoelectric encoder described in claim 1 determines method, its feature
It is：The model AMT313Q of the mixed photoelectric encoder (9).
6. the absolute position signal corrected value according to the mixed photoelectric encoder described in claim 1 determines method, its feature
It is：The value of T described in step 201, step 202 and step 203 is 20ms.
7. the absolute position signal corrected value according to the mixed photoelectric encoder described in claim 1 determines method, its feature
It is：The value of Δ described in step 202 is 0.176 °, and the value of N described in step 204 is 200.
8. the absolute position signal corrected value according to the mixed photoelectric encoder described in claim 1 determines method, its feature
It is：It is exhausted that the servomotor (5) that microprocessor (1) is exported to photoelectric encoder signal conditioning circuit (8) in step 304 rotates
It is 50us to the sampling period that position signalling and relative position signal carry out periodic samples.
9. the absolute position signal corrected value according to the mixed photoelectric encoder described in claim 1 determines method, its feature
It is：The value of k described in step 301 is 3, and the absolute position signal of servomotor described in step 304 (5) rotation includes U
Phase signals, V phase signals and W phase signals, the relative position signal of servomotor (5) rotation include A phase signals, B phase signals
With index signal Z；Microprocessor described in step 304 (1) reads servomotor (5) rotation one since mechanical position zero point
During all mechanical angles during relative position signal umber of pulse in each sector, by non-the one of U phase signals, V phase signals and W phase signals
The decimal number for causing the combination of binary value to determine is defined as current sector number.
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| CN109560743B (en) * | 2018-12-26 | 2020-10-02 | 歌尔股份有限公司 | Motor compensation method, device, driver and system |
| CN111412939B (en) * | 2019-01-04 | 2022-05-17 | 台达电子工业股份有限公司 | Real-time correction method and system for encoder |
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| EP0096565A2 (en) * | 1982-06-04 | 1983-12-21 | Harris Graphics Corporation | Apparatus and method for measuring rotational position |
| CN101480347A (en) * | 2009-01-20 | 2009-07-15 | 深圳市蓝韵实业有限公司 | Four-dimensional ultrasound probe motor control system |
| CN202385048U (en) * | 2011-12-08 | 2012-08-15 | 沈阳康特机电设备有限公司 | AC servo driver based on IRMCK201 |
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| CN103901308A (en) * | 2014-04-22 | 2014-07-02 | 扬州电力设备修造厂 | Electro-hydraulic brake intelligent test bench of electric actuating mechanism and test method thereof |
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| EP0096565A2 (en) * | 1982-06-04 | 1983-12-21 | Harris Graphics Corporation | Apparatus and method for measuring rotational position |
| CN101480347A (en) * | 2009-01-20 | 2009-07-15 | 深圳市蓝韵实业有限公司 | Four-dimensional ultrasound probe motor control system |
| CN202385048U (en) * | 2011-12-08 | 2012-08-15 | 沈阳康特机电设备有限公司 | AC servo driver based on IRMCK201 |
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