CN107655511A - A kind of magnetic encoder calibrating installation and method - Google Patents
A kind of magnetic encoder calibrating installation and method Download PDFInfo
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- CN107655511A CN107655511A CN201711068037.8A CN201711068037A CN107655511A CN 107655511 A CN107655511 A CN 107655511A CN 201711068037 A CN201711068037 A CN 201711068037A CN 107655511 A CN107655511 A CN 107655511A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D18/00—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00
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Abstract
The present invention relates to a kind of magnetic encoder calibrating installation and method, the high-precision mapping relations that its direct construction goes out between magnetic encoder signal generation point exported analog voltage signal and absolute type angle value, the influences of the factor to measurement effect such as the non-linear of magnetic field of permanent magnet, machining accuracy and rigging error are eliminated, so as to which encoder accuracy of detection and resolution ratio be greatly improved.The present invention is respectively provided with corresponding warning signal output for the abnormal conditions occurred during each, the reason for judging to go wrong according to abnormal conditions so as to staff, investigation in time.In view of above reason, present invention can be widely used to encoder techniques field.
Description
Technical field
The present invention relates to encoder techniques field, especially with regard to a kind of magnetic encoder calibrating installation and method.
Background technology
Calibration, i.e., treat calibration instrument using the measuring instrument of higher precision or resolution ratio and measure, with to be calibrated
The output error of instrument is compensated, and the error of instrument to be calibrated is eliminated to improve the purpose of measurement accuracy so as to realize.Essence
Upper any measuring instrument of analysis is required for being calibrated, and simply the mode of calibration process performance is different, in photoelectric encoder
The scoring process of grating disc is equivalent to a calibration process, and groove, the precision of its groove are carried out by high accuracy circular dividing machine
Measurement accuracy is directly affected with steepness.Collimation technique is surveyed in photogrammetry, industrial robot, series-parallel machine tool and transient temperature
The fields such as amount are applied and developed.
Traditional single pair pole magnetic encoder, mapping relations between hall signal and angle based on arc tangent algorithm construction
Accuracy is necessarily influenceed by factors such as the non-linear and rigging errors of magnetic field signal.And the original output letter of magnetic encoder
Number and measurement error be difficult to be described with a definite mathematical modeling, even have such a mathematical modeling, but examine
Consider the difference of the material elementses such as every encoder assembling, the signal curve and error function of each magnetic encoder also not to the utmost one
Sample, therefore, it is difficult to the measurement error of multiple magnetic encoders is compensated with same error model.In addition, though calibration makes
Obtain in the case where magnetic encoder signal generation point immobilizes, substantially reduce non-linear, the processing essence of magnetic field of permanent magnet
The influence of the factor to encoder accuracy such as degree and rigging error, but the Automatic manual transmission error of calibration system in itself still can influence
Encoder itself precision.
Problems be present in current be corrected for magnetic encoder：
1) calibration operation is more complicated, manually operated on usual PC, uploads or downloading data is also manually operated, work
It is less efficient；
2) occur being difficult to find reason during calibration error, could generally be analyzed in PC Excel list datas, to behaviour
It is higher to make personnel requirement；
3) photoelectric encoder can not shift to an earlier date software processing with the increase and decrease of magnetic encoder data；
4) gathered data cycle and the cycle uniformity of actual use, i.e. cycle uniformity, that is, calibration data acquisition
When each Sampling time periods and actual use when each Sampling time periods uniformity；
5) calibration system hardware design defect causes overall upward stability, poor reliability, is easily damaged.
The content of the invention
The technical problem to be solved in the present invention is：It is low low with resolution ratio in order to solve encoder measurement accuracy in the prior art
The problem of, the present invention provides a kind of magnetic encoder calibrating installation to solve the above problems.
To reach above-mentioned purpose, present invention generally provides following technical scheme：A kind of magnetic encoder calibrating installation, it is special
Sign is：It includes calibration card and mechanical module；The calibration card connects the mechanical module；The calibration card includes microprocessor
Device, and the microprocessor includes A/D converter；The mechanical module include dragging motor, coupling mechanism, standard coders,
Motor and magnetic encoder to be calibrated are dragged, and the magnetic encoder to be calibrated connects the microprocessor in the calibration card
Device；Wherein, the magnetic encoder to be calibrated be arranged on it is described dragged on motor, the coupling mechanism by the dragging motor,
The standard coders, described motor connection is dragged to together so that the axle of the dragging motor, the axle of the standard coders
With the axle for being dragged motor all on the same axis, the dragging motor will drag the standard coders, described be dragged electricity
Machine and the magnetic encoder to be calibrated rotate together.
The calibrating installation also includes power module, and the power module connects the calibration card and powered for it；It is described
Power module includes power switch and voltage-stabilized power supply.
The calibrating installation also includes PC modules, and the PC modules connect the calibration card, for the calibration cartoon
Letter；The PC modules include PC and PC communication startup/reset keys；The PC is connected with the calibration card, for data
Communication.
The calibrating installation also includes LCD display；The LCD display is connected with the calibration card, for receiving
State data message and abnormal conditions and the display output that calibration card is sent.
Communicated between the LCD display and the calibration card using RS-232 communication modes.
The calibrating installation also includes startup/reset key, and the startup/reset key connects the microprocessor, institute
Startup/reset key is stated to be used to start or reset whole calibration process.
The calibrating installation also includes mode switching key, microprocessor described in the pattern switching key connection, the pattern
The switching that switch key is used between calibration mode and normal mode of operation or accuracy detection mode capabilities.
A kind of method of magnetic encoder calibrating installation, it comprises the following steps：1) school is treated described in the calibration card control
Quasi- magnetic encoder is operated under calibration sampling configuration, and drives the standard code by controlling the dragging motor to rotate
Device, described motor and the magnetic encoder to be calibrated is dragged to rotate together；The calibration card samples the standard coders
Often turn over a set angle, with regard to the data signal of magnetic encoder to be calibrated described in synchronized sampling, and with the standard code
Device rotation angle value forms one group of data, is stored in the calibration card, and collection is completed to form initial data after multi-group data
Table；2) from raw data table, individually extracting the magnetic encoder to be calibrated, voltage signal values are compiled with the standard all the way
The one-to-one data form of angle value in code device；Extraction is per voltage value signal all the way and the one-to-one data of angle value successively
Form, and it is divided into some sections, curve equation model is carried out using least square fitting algorithm, and utilize curvilinear equation inverse voltage
Angle value corresponding to signal, formed the corresponding magnetic encoder signal generation to be calibrated point per signal all the way, with electricity
On the basis of pressing signal resolution, voltage signal values and the one-to-one tables of data of angle value；3) calibration card treats school with described
Quasi- magnetic encoder communication, the processing that the tables of data that step 2) processing is completed is downloaded to inside the magnetic encoder to be calibrated
Designated storage area in device chip；4) magnetic encoder to be calibrated described in the calibration card control is operated in normal mode, and
The standard coders, the motor and described of being dragged are driven by controlling the dragging motor to control the dragging motor to rotate
Magnetic encoder to be calibrated rotates together, while samples the angle of the standard coders and the magnetic encoder output to be calibrated
Angle value, the difference between both output angle angle value is calculated, after axis of rotation was more than one week, maximum that the calibration card is calculated
Difference is the accuracy of detection of the magnetic encoder to be calibrated.
In the step 1), the data signal of encoder to be calibrated described in synchronized sampling has following three kinds of modes：The first,
The circuit part of encoder to be calibrated with the chip for carrying out data processing, believe by the voltage that chip export to linear Hall during calibration
Number it is acquired, is converted to digital quantity, then being communicated using RS-, it is described that the voltage signal digital quantity of relevant Hall output is passed through
Angle information Sampling Interface sends calibration card to；Second, the circuit part of encoder to be calibrated without data processing chip,
Processing only is filtered to the voltage signal of linear Hall output, is connected by the angle information Sampling Interface with calibration card
Afterwards, the data processing chip of calibration card carries out analog-to-digital conversion to voltage signal, then carries out data processing；The third, it is to be calibrated
The circuit part of encoder is only filtered processing to the voltage signal of linear Hall output, treated without data processing chip
Calibration code device is connected with using the equipment of the encoder to be calibrated, and the data processing chip in equipment is carried out to voltage signal
Analog-to-digital conversion；Then the voltage signal digital quantity of relevant Hall output is passed through the angle information by equipment using RS- communications again
Sampling Interface sends calibration card to.
For the present invention due to taking above technical scheme, it has advantages below：1st, the present invention designs a kind of magnetic encoder
Calibrating principle algorithm, direct construction go out the exported analog voltage signal of magnetic encoder signal generation point and absolute type angle
High-precision mapping relations between value, the factors such as the non-linear of magnetic field of permanent magnet, machining accuracy and rigging error are eliminated to surveying
The influence of dose-effect fruit, so as to which encoder accuracy of detection and resolution ratio be greatly improved.2nd, the present invention is for occurring during each
Abnormal conditions are respectively provided with corresponding warning signal output, the reason for judging to go wrong according to abnormal conditions so as to staff, in time
Investigation.3rd, the present invention departs from PC, and in one piece of master board, one-key operation, reduction uses complexity for all operations, reduces people
For the operating time.4th, calibration system hardware optimization design of the present invention, rational deployment hardware configuration, abundant application hardware resource, from
And improve calibration system resistance to overturning, reliability.5th, the present invention is from signal acquisition to the reflection speed finally obtained a result
It hurry up, improve production efficiency, cost is greatly reduced relative to the product of equal performance.6th, the result that the present invention exports can be direct
The Excel list datas on PC are generated, calibration error reason are directly displayed by the list data, staff directly passes through
The reason for Excel list datas are when can obtain occurring calibration error, so as to reduce to staff's technical requirements.7th, originally
Invention calibration system hardware optimization design, according to new calibrating principle rational deployment hardware configuration, abundant application hardware resource.In view of
Above reason, it present invention can be widely used to encoder techniques field.
Brief description of the drawings
Fig. 1 is the structural representation of apparatus of the present invention；
Fig. 2 is the workflow diagram of apparatus of the present invention.
Embodiment
As shown in figure 1, a kind of magnetic encoder calibrating installation, including calibration card 1, mechanical module 2, power module 3, PC moulds
Block 4, LCD display 5, startup/reset key 6 and mode switching key 7.
Wherein, calibration card 1 connects mechanical module 2, power module 3, PC modules 4, LCD display 5 respectively.
Wherein, calibration card 1 is the core of magnetic encoder calibrating installation of the present invention, it include microprocessor 11, with
Machine access memory 12, EEPROM 13, interface section 14.Above-mentioned calibration card 1 has high-speed, high precision
Data computing capability and multiplex roles signal coordinating disposal ability.
Microprocessor 11 connects random access memory 12, EEPROM 13, startup/reset respectively
Button 6 and mode switching key 7.
Microprocessor 11 includes A/D converter, and calculating and analysis to data are carried out as main control chip；
Random access memory 12 is used as random storage chip, and carrying out immediate data with microprocessor 11 exchanges, storage meter
Ephemeral data during calculation；
EEPROM 13 is used as scratch pad memory, is drawn for storage microprocessor 11 final
Data.
Interface section 14 include receiving angle signaling interface 141, angle information Sampling Interface 142, PC communication interfaces 143,
Display interface 144 and power interface 145.
Wherein, receiving angle signaling interface 141 is connected with standard coders 23, is sent for receiving standard coders 23
Angle signal；
Angle information Sampling Interface 142 is connected with magnetic encoder 25 to be calibrated, for receiving magnetic encoder to be calibrated
25 voltage signals sent, and exported magnetic encoder 25 to be calibrated using A/D converter in the microprocessor 11 of calibration card 1
Voltage signal be converted into data signal；
PC communication interfaces 143 are connected with PC 41, using RS-485 communication modes, are led to for carrying out data with PC 41
News；
Display interface 144 is connected with LCD display 5, aobvious for being transmitted to LCD display 5 using RS-232 communication modes
Registration evidence and abnormal conditions；
Power interface 145 is connected with voltage-stabilized power supply 32, so that voltage-stabilized power supply 32 provides power supply to calibration card 1.
Mechanical module 2 includes dragging motor 21, coupling mechanism 22, standard coders 23, is dragged motor 24 and magnetic to be calibrated
Property encoder 25.
Wherein, magnetic encoder 25 to be calibrated is arranged on and dragged on motor 24, and coupling mechanism 22 is by dragging motor 21, standard
Encoder 23, motor 24 is dragged to connect together so that the axle of dragging motor 21, the axle of standard coders 23 and to be dragged motor 24
Axle all on the same axis, dragging motor 21 will drag standard coders 23, dragged motor 24 and magnetic encoder to be calibrated
25 rotate together.Above-mentioned coupling mechanism 22 mainly includes shaft coupling and coupling spindle, and it is prior art, therefore is no longer described in detail.
Power module 3 includes power switch 31 and voltage-stabilized power supply 32.Power switch 31 is used to control whether that access is outside
220V electricity, voltage-stabilized power supply 32 are supplied to calibration card 1 for outside 220V electricity to be converted into constant voltage DC 5V power supplys.
PC modules 4 include PC 41 and PC communication startup/reset keys 42.PC 41 is connected with calibration card 1, for data
Communication；Whether PC communication startup/reset keys 42 are used to start or reset the data communication between PC 41 and calibration card 1.
LCD display 5 is connected with calibration card 1, by RS-232 communication modes, is sent for receiving calibration card 1
Data message and abnormal conditions and display output.
Startup/reset key 6 is used to start or reset whole calibration process.
The switching that mode switching key 7 is used between calibration mode and normal mode of operation or accuracy detection mode capabilities.
The principle of the invention is as follows：1st, data sampling；2nd, data processing；3rd, data are downloaded；4th, accuracy detection：
1) data sampling --- calibration card 1 controls magnetic encoder 25 to be calibrated to be operated under calibration sampling configuration, and leads to
Control dragging motor 21 is crossed to rotate drive standard coders 23, dragged motor 24 and magnetic encoder to be calibrated 25 to rotate together；
Calibration card 1 samples standard coders 23 and often turns over a set angle, with regard to the number of synchronized sampling magnetic encoder 25 to be calibrated
Word signal, and one group of data is formed with the rotation angle value of standard coders 23, it is stored in calibration card 1, multigroup number is completed in collection
According to forming initial data afterwards；
The data signal of synchronized sampling encoder 25 to be calibrated has following three kinds of modes：
The first, the circuit part of encoder 25 to be calibrated is with the chip for carrying out data processing, and chip is to line during calibration
Property Hall output voltage signal be acquired, be converted to digital quantity, then using RS-485 communicate relevant Hall output
Voltage signal digital quantity sends calibration card 1 to by angle information Sampling Interface 142；
Second, the circuit part of encoder 25 to be calibrated is without data processing chip, only to linear Hall output
Voltage signal is filtered processing, after being connected by angle information Sampling Interface 142 with calibration card 1, the data processing of calibration card 1
Chip (A/D converter) carries out analog-to-digital conversion to voltage signal, then carries out data processing；
The third, the circuit part of encoder 25 to be calibrated is without data processing chip, only to linear Hall output
Voltage signal is filtered processing, and encoder 25 to be calibrated is with using the equipment of this encoder by being connected, the data in equipment
Process chip carries out analog-to-digital conversion to voltage signal；Then equipment again believes the voltage of relevant Hall output using RS-485 communications
Number digital quantity sends calibration card 1 to by angle information Sampling Interface 142；
2) data processing --- from raw data table, individually extract magnetic encoder 25 to be calibrated certain voltage signal all the way
Value and the one-to-one data form of angle value in standard coders 23；Extraction is per voltage value signal all the way and angle value one successively
Data form corresponding to one, and it is divided into some sections, curve equation model is carried out using least square fitting algorithm, and utilize curve
Angle value corresponding to equation inverse voltage signal, the corresponding signal generation of magnetic encoder 25 point to be calibrated of formation is every to be believed all the way
Number, on the basis of voltage signal resolution ratio, voltage signal values and the one-to-one tables of data of angle value；
3) data are downloaded --- and calibration card 1 communicates with magnetic encoder 25 to be calibrated, the data that step 2) processing is completed
The designated storage area that table is downloaded in the processor chips inside magnetic encoder 25 to be calibrated；
4) accuracy detection --- calibration card 1 controls magnetic encoder 25 to be calibrated to be operated in normal mode, and passes through control
Dragging motor 21 controls dragging motor 21 to rotate and drives standard coders 23, dragged motor 24 and magnetic encoder to be calibrated 25 1
Rotation, while the angle value that standard for manual sampling encoder 23 and magnetic encoder to be calibrated 25 export are played, calculates both output angles
Difference between value, after axis of rotation was more than one week, the maximum difference that calibration card 1 is calculated is magnetic encoder 25 to be calibrated
Accuracy of detection.
In summary, the present invention designs a kind of magnetic encoder calibrating principle algorithm, and direct construction goes out magnetic encoder letter
The high-precision mapping relations between the part analog voltage signal and absolute type angle value that are exported number occur, eliminate permanent magnet magnetic
The influences of the factor to measurement effect such as the non-linear of field, machining accuracy and rigging error, so as to which encoder detection be greatly improved
Precision and resolution ratio.In the design of calibration method, speed and the degree of accuracy to sample data transmission determine that encoder industrializes
The efficiency of production, transmission speed is faster, and the calibration process time shortens, and transmission accuracy is higher, and alignment error verification number is reduced；
The Measurement Resolution and precision of encoder, the angle value of signal mapping reconstruction are determined to the accuracy of sample signal mapping reconstruction
More accurate, encoder can have higher resolution ratio and precision when measuring.
Further, as shown in Fig. 2 key step flow when magnetic encoder calibrating installation of the present invention works is as follows：
1st, start；2nd, data calibration；3rd, accuracy detection；4th, result exports.
The first step, start：Power-on module 3, direct current 5V power supplys are provided to calibration card 1 by voltage-stabilized power supply 32；Start
PC communicates startup/reset 42, startup function startup/reset, and data sampling starts；
Second step, calibrated according to magnetic encoder calibrating installation operation principle technology of the present invention explanation, i.e., data are adopted
Sample, data processing, data are downloaded；In the process, when there are the excessive velocities of operational monitoring dragging motor 21, or when to be calibrated
Magnetic encoder 25 or standard coders 23 have one there be not connection or one of connection shakiness not to be set to abnormal conditions with calibration card 1
1；When operation A/D converter value finishes receiving interruption, it is different to sample when the signal data of magnetic encoder 25 to be calibrated is less than 3 numbers
Reason condition 2；
3rd step, illustrate to carry out accuracy detection according to magnetic encoder calibrating installation operation principle technology of the present invention；Herein
During, when the signal generation of magnetic encoder 25 to be calibrated divides the maximum voltage value of institute's output voltage signal not in normal range (NR)
Interior (in being divided according to the signal generation of magnetic encoder 25 to be calibrated, the output voltage range of Hall magnetic induction part on stator),
It is now abnormal conditions 3；
4th step, is as a result exported：On the one hand it is by the real-time display of LCD display 5 above-mentioned second and third step
Result data and state；On the other hand it is to be communicated by calibration card 1 and PC 41, data results is uploaded into PC 41
On, it can be further processed and apply.
The result of above-mentioned output can directly generate the Excel list datas on PC, directly aobvious by the list data
Show calibration error reason, the reason for when staff can obtain occurring calibration error directly by the Excel list datas, from
And reduce to staff's technical requirements.
In summary, the present invention is respectively provided with corresponding warning signal output for the abnormal conditions occurred during each, so as to
The reason for staff judges to go wrong according to abnormal conditions, investigate in time.
The embodiment of the present invention is these are only, but protection scope of the present invention is not limited thereto, it is any to be familiar with
Those skilled in the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all be covered
Within protection scope of the present invention.Therefore, protection scope of the present invention should be defined by scope of the claims.
Claims (9)
- A kind of 1. magnetic encoder calibrating installation, it is characterised in that：It includes calibration card (1) and mechanical module (2)；The calibration Block (1) and connect the mechanical module (2)；The calibration card (1) includes microprocessor (11), and the microprocessor (11) includes A/D converter；The mechanical module (2) includes dragging motor (21), coupling mechanism (22), standard coders (23), is dragged motor (24) With magnetic encoder to be calibrated (25), and the magnetic encoder to be calibrated (25) connect it is described micro- in the calibration card (1) Processor (11)；Wherein, the magnetic encoder to be calibrated (25) is dragged on motor (24) installed in described, and the coupling mechanism (22) will The dragging motor (21), the standard coders (23), described motor (24) is dragged to connect together so that the dragging electricity The axle of machine (21), the axle of the standard coders (23) and the axle for being dragged motor (24) are all on the same axis, described to drag Dynamic motor (21) will drag the standard coders (23), described be dragged motor (24) and the magnetic encoder to be calibrated (25) Rotate together.
- A kind of 2. magnetic encoder calibrating installation according to claim 1, it is characterised in that：The calibrating installation also includes Power module (3), the power module (3) connect the calibration card (1) and powered for it；The power module (3) includes electricity Source switch (31) and voltage-stabilized power supply (32).
- A kind of 3. magnetic encoder calibrating installation according to claim 1, it is characterised in that：The calibrating installation also includes PC modules (4), the PC modules (4) connect the calibration card (1), for being communicated with the calibration card (1)；The PC modules (4) include PC (41) and PC communication startup/reset keys (42)；The PC (41) and the calibration Block (1) connection, for data communication.
- A kind of 4. magnetic encoder calibrating installation according to claim 1, it is characterised in that：The calibrating installation also includes LCD display (5)；The LCD display (5) is connected with the calibration card (1), is transmitted for receiving the calibration card (1) The data message and abnormal conditions and display output come.
- A kind of 5. magnetic encoder calibrating installation according to claim 4, it is characterised in that：The LCD display (5) and Communicated between the calibration card (1) using RS-232 communication modes.
- A kind of 6. magnetic encoder calibrating installation according to claim 1, it is characterised in that：The calibrating installation also includes Startup/reset key (6), the startup/reset key (6) connect the microprocessor (11), the startup/reset key (6) it is used to start or reset whole calibration process.
- A kind of 7. magnetic encoder calibrating installation according to claim 1, it is characterised in that：The calibrating installation also includes Mode switching key (7), the mode switching key (7) connect the microprocessor (11), and the mode switching key (7) is used to calibrate Switching between pattern and normal mode of operation or accuracy detection mode capabilities.
- 8. a kind of method of magnetic encoder calibrating installation according to claim 1-7 any one, it includes following step Suddenly：1) calibration card (1) controls the magnetic encoder (25) to be calibrated to be operated under calibration sampling configuration, and passes through control Make the dragging motor (21) and rotate and drive the standard coders (23), described dragged motor (24) and the magnetic to be calibrated Encoder (25) rotates together；The calibration card (1) samples the standard coders (23) and often turns over a set angle, just The data signal of magnetic encoder (25) to be calibrated described in synchronized sampling, and with the standard coders (23) rotation angle value shape Into one group of data, it is stored in the calibration card (1), collection is completed to form raw data table after multi-group data；2) from raw data table, the magnetic encoder to be calibrated (25) certain voltage signal values and described mark all the way is individually extracted The one-to-one data form of angle value in quasi- encoder (23)；Successively extraction per voltage value signal all the way with a pair of angle value 1 The data form answered, and it is divided into some sections, curve equation model is carried out using least square fitting algorithm, and utilize curvilinear equation Angle value corresponding to inverse voltage signal, corresponding magnetic encoder (25) signal generation to be calibrated point is formed per all the way Signal, on the basis of voltage signal resolution ratio, voltage signal values and the one-to-one tables of data of angle value；3) calibration card (1) communicates with the magnetic encoder (25) to be calibrated, under the tables of data that step 2) processing is completed The designated storage area being downloaded in the internal processor chips of the magnetic encoder to be calibrated (25)；4) calibration card (1) controls the magnetic encoder (25) to be calibrated to be operated in normal mode, and by described in control Dragging motor (21) control the dragging motor (21) rotate drive the standard coders (23), it is described dragged motor (24) and The magnetic encoder to be calibrated (25) rotates together, while samples the standard coders (23) and the magnetic volume to be calibrated The angle value of code device (25) output, calculates the difference between both output angle angle value, after axis of rotation was more than one week, the calibration The maximum difference that card (1) is calculated is the accuracy of detection of the magnetic encoder (25) to be calibrated.
- A kind of 9. magnetic encoder calibration method according to claim 1, it is characterised in that：It is synchronous in the step 1) Sampling the data signal of the encoder to be calibrated (25) has following three kinds of modes：The first, the circuit part of encoder (25) to be calibrated is with the chip for carrying out data processing, and chip is to linear during calibration The voltage signal of Hall output is acquired, and is converted to digital quantity, and then communicated the electricity that relevant Hall is exported using RS-485 Pressure signal digital quantity sends calibration card (1) to by the angle information Sampling Interface (142)；Second, the circuit part of encoder (25) to be calibrated is without data processing chip, the only electricity to linear Hall output Pressure signal is filtered processing, after being connected by the angle information Sampling Interface (142) with calibration card (1), calibration card (1) Data processing chip carries out analog-to-digital conversion to voltage signal, then carries out data processing；The third, the circuit part of encoder (25) to be calibrated is without data processing chip, the only electricity to linear Hall output Pressure signal is filtered processing, and encoder (25) to be calibrated is connected with using the equipment of the encoder (25) to be calibrated, equipment On data processing chip to voltage signal carry out analog-to-digital conversion；Then equipment again exports relevant Hall using RS-485 communications Voltage signal digital quantity calibration card (1) is sent to by the angle information Sampling Interface (142).
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| CN109412600A (en) * | 2018-09-03 | 2019-03-01 | 何祥果 | A kind of identification number coding method based on magnetic characteristic |
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| CN109883445A (en) * | 2019-03-14 | 2019-06-14 | 中国水利水电夹江水工机械有限公司 | A kind of testing calibration control method of operating mechanism stroke and position |
| CN110375788A (en) * | 2019-07-26 | 2019-10-25 | 中国航空工业集团公司北京长城计量测试技术研究所 | The orthogonal differential wave demodulation instrument calibration method in four tunnels of one kind and system |
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| CN112304210A (en) * | 2020-11-10 | 2021-02-02 | 陕西宏星电器有限责任公司 | Hall angle sensor angle calibration method |
| CN113029221A (en) * | 2021-03-03 | 2021-06-25 | 浙江禾川科技股份有限公司 | Testing equipment of encoder |
| CN115127603A (en) * | 2022-08-25 | 2022-09-30 | 天津云圣智能科技有限责任公司 | Compensation method and device for magnetic encoder in unmanned aerial vehicle and electronic equipment |
| CN115355937A (en) * | 2022-10-24 | 2022-11-18 | 泉州昆泰芯微电子科技有限公司 | Self-calibration method of magnetic encoder and motor |
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| WO2021114419A1 (en) * | 2019-12-13 | 2021-06-17 | 浙江禾川科技股份有限公司 | Calibration method, apparatus and device for rotary magnetoelectric encoder |
| CN111457953A (en) * | 2020-04-01 | 2020-07-28 | 深圳市四方电气技术有限公司 | Automatic calibration detection system and method for rotary encoder |
| CN111721329A (en) * | 2020-07-07 | 2020-09-29 | 哈尔滨理工大学 | three-Hall magnetoelectric encoder and arc-tangent-free calculation angle calculation method |
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| CN112304210A (en) * | 2020-11-10 | 2021-02-02 | 陕西宏星电器有限责任公司 | Hall angle sensor angle calibration method |
| CN113029221A (en) * | 2021-03-03 | 2021-06-25 | 浙江禾川科技股份有限公司 | Testing equipment of encoder |
| CN115127603A (en) * | 2022-08-25 | 2022-09-30 | 天津云圣智能科技有限责任公司 | Compensation method and device for magnetic encoder in unmanned aerial vehicle and electronic equipment |
| CN115127603B (en) * | 2022-08-25 | 2022-12-20 | 天津云圣智能科技有限责任公司 | Compensation method and device for magnetic encoder in unmanned aerial vehicle and electronic equipment |
| CN115355937A (en) * | 2022-10-24 | 2022-11-18 | 泉州昆泰芯微电子科技有限公司 | Self-calibration method of magnetic encoder and motor |
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