CN108844556B - Absolute value encoder compensation parameter obtaining method and system - Google Patents
Absolute value encoder compensation parameter obtaining method and system Download PDFInfo
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- CN108844556B CN108844556B CN201810422209.5A CN201810422209A CN108844556B CN 108844556 B CN108844556 B CN 108844556B CN 201810422209 A CN201810422209 A CN 201810422209A CN 108844556 B CN108844556 B CN 108844556B
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Abstract
The invention provides a method and a system for acquiring compensation parameters of an absolute value encoder, which comprises the following steps: respectively acquiring main code channel angle information and segment code channel angle information from the absolute value encoder; and calculating the angle deviation of the segment code channel relative to the main code channel according to the main code channel angle information and the segment code channel angle information of the absolute value encoder, and taking the angle deviation as a first compensation value, wherein the first compensation value is used for compensating the segment code channel angle of the absolute value encoder. The first compensation value is calculated according to the angle information of the main code channel and the angle information of the segment code channel when the absolute value encoder operates, so that the absolute value encoder can compensate the angle of the segment code channel by using the first compensation value, and the position precision output by the absolute value encoder can be improved without increasing high cost.
Description
Technical Field
The present invention relates to the field of encoders, and in particular, to a method and a system for obtaining compensation parameters of an absolute value encoder.
Background
With the rapid development of industrial control technology, the upgrading of the manufacturing industry is continuously promoted, and a huge market is provided for the development of the servo industry. The encoder is used as a feedback device in the servo system, so that the working precision of the servo system is effectively improved. Absolute value encoders, because each position output by the absolute value encoder is absolutely unique and resistant to interference, have been increasingly widely applied to various industrial systems for angle and length measurement and positioning control.
An absolute value photoelectric encoder based on a vernier calculation principle subdivides a single-turn absolute position through three code channel coded disks of a main code channel A, a vernier code channel B and a segment code channel C, as shown in figure 1. In the absolute value photoelectric encoder, analog signals generated by each position of a single circle on a main code track A and a vernier code track B have unique fixed phase difference, so that absolute position identification is realized according to the principle of the absolute value photoelectric encoder and a vernier caliper. Specifically, the range of the phase difference θ between the line of the xth main track a and the line of the cursor track B is: (2 π/total number of rulings) × (X-1) < θ < = (2 π/total number of rulings) × X.
In fact, the absolute position information can be subdivided through the main track a and the cursor track B. In order to reduce the requirement of system precision and the processing difficulty of code channels, a third 'segment code channel' is also introduced into the absolute value photoelectric encoder. The low bits of the subdivision data can be resolved by using the main code track A/the segment code track C, and the high bits of the subdivision data can be resolved by using the main code track A/the vernier code track B, so that a complete absolute position can be obtained, and the error tolerance is improved.
In the ideal case, the first scribe line of each turn of the three tracks can be considered to be perfectly aligned. However, in practical application, due to factors such as a code disc engraving process, an assembly process, light source divergence, etc., a code track error, i.e., zero drift, may be caused, as shown in fig. 2: the main code channel A and the segment code channel C can not be aligned strictly according to the rule of 'segment alignment'; the high order bits decoded by the main code track/vernier code track and the low order bits decoded by the main code track/segment code track may also have a splicing problem during splicing; when the physical position is at the intersection of any main code channel scribe line, the low order of the main code channel/segment code channel solution cannot guarantee the complete calculation accuracy.
In order to improve the measurement accuracy, drift compensation needs to be performed for the zero drift, and currently, drift compensation is generally implemented by a customized drift compensation chip, but the customized drift compensation chip is expensive in manufacturing cost, so that the overall cost of the absolute value encoder is high.
Disclosure of Invention
The technical problem to be solved by the present invention is to provide a method and a system for obtaining compensation parameters of an absolute value encoder, aiming at the problem of high cost of the absolute value encoder.
The technical solution for solving the above technical problems is to provide a method for obtaining compensation parameters of an absolute value encoder, which comprises the following steps:
respectively acquiring main code channel angle information and segment code channel angle information from the absolute value encoder;
and calculating the angle deviation of the segment code channel relative to the main code channel according to the main code channel angle information and the segment code channel angle information of the absolute value encoder, and taking the angle deviation as a first compensation value, wherein the first compensation value is used for compensating the segment code channel angle of the absolute value encoder.
In the method for obtaining compensation parameters of an absolute value encoder, the method includes:
respectively acquiring the instantaneous angle of a main code channel, the instantaneous angle of a vernier code channel and the instantaneous angle of a segment code channel of the absolute value encoder;
calculating a first absolute position according to the instantaneous angle of the main code channel and the instantaneous angle of the vernier code channel;
compensating the instantaneous angle of the segment code channel by using the first compensation value, and resolving according to the instantaneous angle of the main code channel, the instantaneous angle of the cursor code channel and the instantaneous angle of the segment code channel compensated by the first compensation value to obtain a second absolute position;
and comparing the first absolute position with the second absolute position, and taking an error obtained by comparison as a second compensation value, wherein the second compensation value is used for compensating the vernier track angle of the absolute value encoder.
In the absolute value encoder compensation parameter obtaining method of the present invention, the second absolute position is synthesized from lower bits of the first subdivision data and upper bits of the second subdivision data, wherein:
the first subdivision data is obtained by resolving the instantaneous angle of the main code channel and the instantaneous angle of the segment code channel compensated by the first compensation value;
and the second subdivision data is obtained by resolving according to the instantaneous angle of the main track and the instantaneous angle of the vernier track.
In the method for obtaining compensation parameters of an absolute value encoder, the method includes:
respectively acquiring the instantaneous angle of a main code channel and the instantaneous angle of a segment code channel of the absolute value encoder;
compensating the instantaneous angle of the segment code channel by using the first compensation value, resolving according to the instantaneous angle of the main code channel and the angle of the segment code channel compensated by the first compensation value to obtain a third absolute position, and resolving according to the instantaneous angle of the main code channel to obtain a fourth absolute position;
and comparing the lower bits of the third absolute position with the lower bits of the fourth absolute position, and taking the error obtained by comparison as a third compensation value, wherein the third compensation value is used for compensating the main code channel angle of the absolute value encoder.
In the method for obtaining compensation parameters of an absolute value encoder, the main code channel angle information and the segment code channel angle information obtained from the absolute value encoder include: and when the encoder runs for at least one week, the absolute value encoder generates the main code channel angle and the segment code channel angle at all sampling points.
In the method for obtaining compensation parameters of an absolute value encoder, the calculating an angle offset of a segment code channel relative to a main code channel according to the angle information of the main code channel and the angle information of the segment code channel of the absolute value encoder includes:
acquiring all alignment points of the main code channel scribed lines and the segment code channel scribed lines;
the instantaneous angular offset at each alignment point is calculated and the average of all the instantaneous angular offsets is taken as the angular offset.
The invention also provides a system for acquiring the compensation parameters of the absolute value encoder, which comprises a storage device and a processing device, wherein codes for the processing device to run are stored in the storage device so as to execute the method.
The invention also provides a system for acquiring the compensation parameters of the absolute value encoder, which comprises a code channel information acquisition unit and a first calculation unit, wherein: the code channel information acquisition unit is used for respectively acquiring main code channel angle information and segment code channel angle information from the absolute value encoder; the first calculation unit is configured to calculate an angle offset of a segment code channel relative to a main code channel according to the main code channel angle information and the segment code channel angle information of the absolute value encoder, and use the angle offset as a first compensation value, where the first compensation value is used to compensate the segment code channel angle of the absolute value encoder.
In the system for obtaining the compensation parameters of the absolute value encoder, the system further comprises a first resolving unit, a second resolving unit and a second calculating unit; wherein: the code channel information acquisition unit is also used for respectively acquiring the instantaneous angle of a main code channel, the instantaneous angle of a cursor code channel and the instantaneous angle of a segment code channel of the absolute value encoder; the first resolving unit is used for resolving a first absolute position according to the instantaneous angle of the main track and the instantaneous angle of the vernier track; the second calculating unit is used for compensating the instantaneous angle of the segment code channel by using the first compensation value and calculating to obtain a second absolute position according to the instantaneous angle of the main code channel, the instantaneous angle of the cursor code channel and the instantaneous angle of the segment code channel compensated by the first compensation value; and the second calculating unit is used for comparing the first absolute position with the second absolute position, and taking an error obtained by comparison as a second compensation value, wherein the second compensation value is used for compensating the cursor track angle of the absolute value encoder.
In the absolute value encoder compensation parameter acquisition system of the present invention, the second calculation unit synthesizes the lower bits of the first subdivision data and the upper bits of the second subdivision data into the second absolute position, wherein: the first subdivision data is obtained by resolving the instantaneous angle of the main code channel and the instantaneous angle of the segment code channel compensated by the first compensation value; and the second subdivision data is obtained by resolving according to the instantaneous angle of the main track and the instantaneous angle of the vernier track.
In the system for obtaining compensation parameters of an absolute value encoder, the system further includes a third calculating unit, a fourth calculating unit and a third calculating unit: wherein: the code channel information acquisition unit is further used for respectively acquiring the instantaneous angle of the main code channel and the instantaneous angle of the segment code channel of the absolute value encoder; the third calculating unit is used for compensating the instantaneous angle of the segment code channel by using the first compensation value and calculating to obtain a third absolute position according to the instantaneous angle of the main code channel and the angle of the segment code channel compensated by the first compensation value; the fourth resolving unit is used for resolving according to the instantaneous angle of the main code channel to obtain a fourth absolute position; and the third calculating unit is used for comparing the lower bits of the third absolute position with the lower bits of the fourth absolute position, and taking the error obtained by comparison as a third compensation value, wherein the third compensation value is used for compensating the main code channel angle of the absolute value encoder.
In the system for acquiring compensation parameters of an absolute value encoder according to the present invention, the main channel angle information and the segment channel angle information acquired by the channel information acquiring unit include: and when the encoder runs for at least one week, the absolute value encoder generates the main code channel angle and the segment code channel angle at all sampling points.
In the system for acquiring compensation parameters of an absolute value encoder, the first calculating unit takes an average value of instantaneous angular offsets at all alignment points of the main code track scribe line and the segment code track scribe line as the angular offset.
According to the method and the system for obtaining the compensation parameters of the absolute value encoder, the first compensation value is calculated according to the angle information of the main code channel and the angle information of the segment code channel when the absolute value encoder operates, so that the absolute value encoder can compensate the angle of the segment code channel by using the first compensation value, and the position precision output by the absolute value encoder can be improved without increasing high cost. The invention also generates a second compensation value by calculating the cursor connection error, so that the absolute value encoder can compensate the cursor track angle by using the second compensation value; the invention also generates a third compensation value by calculating the low-order error, so that the absolute value encoder can further compensate the angle of the main code channel by using the third compensation value, and the position precision output by the absolute value encoder is further improved.
Drawings
FIG. 1 is a schematic diagram of an ideal code channel of an absolute value encoder;
FIG. 2 is a diagram of an absolute value encoder actual code track;
FIG. 3 is a diagram illustrating a first embodiment of a compensation parameter obtaining method for an absolute value encoder according to the present invention;
FIG. 4 is a diagram illustrating a second embodiment of a compensation parameter obtaining method for an absolute value encoder according to the present invention;
FIG. 5 is a diagram illustrating a third embodiment of a compensation parameter obtaining method for an absolute value encoder according to the present invention;
FIG. 6 is a diagram illustrating a fourth embodiment of a compensation parameter obtaining method for an absolute value encoder according to the present invention;
FIG. 7 is a schematic diagram of a first embodiment of an absolute value encoder compensation parameter acquisition system of the present invention;
FIG. 8 is a schematic diagram of a second embodiment of an absolute value encoder compensation parameter acquisition system according to the present invention;
fig. 9 is a schematic diagram of a third embodiment of the absolute value encoder compensation parameter acquisition system of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Fig. 3 is a schematic diagram of a first embodiment of a compensation parameter obtaining method of an absolute value encoder according to the present invention, which can be implemented in an upper computer connected to the absolute value encoder. The method for acquiring the compensation parameters of the absolute value encoder in the embodiment comprises the following steps:
step S31: and respectively acquiring the angle information of the main code channel and the angle information of the segment code channel from the absolute value encoder. The obtained main code channel angle information and the obtained segment code channel angle information may be triangular waves.
In this step, it is preferable to acquire the main code channel angle information and the segment code channel angle information when the absolute value encoder operates at a constant speed, thereby improving the accuracy. Specifically, the motor may be controlled to rotate at a constant speed, and the rotation speed of the motor cannot be too fast (for example, preferably not more than 1000 rpm), otherwise it is not favorable for collecting the angle information of the main code track and the angle information of the segment code track. Specifically, the obtained main code channel information and the segment code channel information at least include a main code channel angle and a segment code channel angle generated by the absolute value encoder at all sampling points within a duration, and the main code channel scribe line and the segment code channel scribe line are aligned at least once within the duration (at the alignment position of the main code channel scribe line and the segment code channel scribe line, the angle of the main code channel reaches a maximum value, and the angle of the segment code channel reaches a maximum value).
In order to improve accuracy, the main code channel angle information and the segment code channel angle information acquired from the absolute value encoder include: and when the encoder runs for at least one week, the absolute value encoder generates the main code channel angle and the segment code channel angle at all the sampling points.
Step S32: and calculating the angle deviation of the segment code channel relative to the main code channel according to the main code channel angle information and the segment code channel angle information of the absolute value encoder, and outputting the angle deviation as a first compensation value. The first compensation value can be written into the absolute value encoder, so that the absolute value encoder can compensate the segment code channel angle by using the first compensation value, and the output precision of the absolute value encoder is improved.
For example, in an absolute value encoder of 1024 graduations, the main code track is 1024 graduations, and the segment code track is 992 graduations, 32 alignment groups (each alignment group is composed of 32 main code track graduations and 31 segment code track graduations) are formed, in each alignment group, if the angle between adjacent graduations of the main code track is α and the angle between adjacent graduations of the segment code track is β, in the alignment group, when the nth graduations (n ≦ 32) of the main code track is aligned with the corresponding segment code track graduations, the angle offset between the main code track and the segment code track is (β - α) × n.
In particular, when the collected main track angle information and segment track angle information of the absolute value encoder are sufficient, that is, include a plurality of alignment groups, the alignment points (i.e., the alignment points of the main track scribe line and the segment track scribe line) in each alignment group can be obtained separately, then the angular instantaneous offsets at the alignment points in each alignment group are calculated, and the average value of all the angular instantaneous offsets is taken as the final angular offset.
The first compensation value can be obtained by calculation in an upper computer connected with the absolute value encoder, so that the drift compensation can be realized without using a customized drift compensation chip.
The invention can also obtain a second compensation value for compensating the cursor track angle so as to further improve the precision of the absolute value encoder. As shown in fig. 4, which is a schematic diagram of a second embodiment of the method for acquiring compensation parameters of an absolute value encoder of the present invention, the method for acquiring compensation parameters of an absolute value encoder in the present embodiment includes the following steps:
step S41: and respectively acquiring the angle information of the main code channel and the angle information of the segment code channel from the absolute value encoder. In order to improve the precision, the main code channel angle information and the segment code channel angle information are preferably acquired when the absolute value encoder runs at a constant speed.
Step S42: and calculating the angle deviation of the segment code channel relative to the main code channel according to the main code channel angle information and the segment code channel angle information of the absolute value encoder, and outputting the angle deviation as a first compensation value.
Step S43: the instantaneous angle of the main code channel, the instantaneous angle of the vernier code channel and the instantaneous angle of the segment code channel of the absolute value encoder are respectively obtained, and the first absolute position is calculated according to the instantaneous angles of the main code channel and the vernier code channel. Likewise, it is preferable to obtain the respective instantaneous angles when the absolute value encoder is operating at a constant speed.
Step S44: and compensating the instantaneous angle of the segment code channel by using the first compensation value, and resolving according to the instantaneous angle of the main code channel, the instantaneous angle of the cursor code channel and the instantaneous angle of the segment code channel compensated by the first compensation value to obtain a second absolute position.
Specifically, the second absolute position is synthesized from lower bits of the first subdivision data and upper bits of the second subdivision data, where: the first subdivision data is obtained by resolving the instantaneous angle of the main code channel and the instantaneous angle of the segment code channel compensated by the first compensation value; and the second subdivision data is obtained by resolving according to the instantaneous angle of the main track and the instantaneous angle of the vernier track.
Step S45: the first absolute position and the second absolute position are compared, and an error obtained by the comparison (i.e., a cursor engagement error) is used as a second compensation value. Similarly, the second compensation value can be written into the absolute value encoder, so that the absolute value encoder can compensate the cursor track angle by using the second compensation value, thereby improving the output precision of the absolute value encoder.
The invention can also obtain a third compensation value for compensating the angle of the main code channel so as to further improve the precision of the absolute value encoder. As shown in fig. 5, which is a schematic diagram of a third embodiment of the method for acquiring compensation parameters of an absolute value encoder of the present invention, the method for acquiring compensation parameters of an absolute value encoder in the present embodiment includes the following steps:
step S51: and respectively acquiring the angle information of the main code channel and the angle information of the segment code channel from the absolute value encoder.
Step S52: and calculating the angle deviation of the segment code channel relative to the main code channel according to the main code channel angle information and the segment code channel angle information of the absolute value encoder, and outputting the angle deviation as a first compensation value.
Step S53: respectively obtaining the instantaneous angle of a main code channel of an absolute value encoder and the instantaneous angle of a segment code channel (similarly, preferably when the absolute value encoder runs at a constant speed), then compensating the instantaneous angle of the segment code channel by using a first compensation value, resolving according to the instantaneous angle of the main code channel and the angle of the segment code channel compensated by the first compensation value to obtain a third absolute position, and resolving according to the instantaneous angle of the main code channel to obtain a fourth absolute position.
Step S54: the lower bits of the third absolute position are compared with the lower bits of the fourth absolute position, and the error obtained by the comparison (i.e., the lower error) is taken as a third compensation value. Similarly, the third compensation value may be written in the absolute value encoder, so that the absolute value encoder may compensate the angle of the main track using the third compensation value, thereby improving the output accuracy of the absolute value encoder.
The present invention can also obtain a first compensation value for compensating the segment code track, a second compensation value for compensating the cursor code track, and a third compensation value for compensating the main code track at the same time, and at this time, as shown in fig. 6, the method includes the following steps:
step S61: and respectively acquiring the angle information of the main code channel and the angle information of the segment code channel from the absolute value encoder.
Step S62: and calculating the angle deviation of the segment code channel relative to the main code channel according to the main code channel angle information and the segment code channel angle information of the absolute value encoder, and outputting the angle deviation as a first compensation value.
Step S63: the instantaneous angle of the main code channel, the instantaneous angle of the vernier code channel and the instantaneous angle of the segment code channel of the absolute value encoder are respectively obtained, and the first absolute position is calculated according to the instantaneous angles of the main code channel and the vernier code channel.
Step S64: and compensating the instantaneous angle of the segment code channel by using the first compensation value, and resolving according to the instantaneous angle of the main code channel, the instantaneous angle of the cursor code channel and the instantaneous angle of the segment code channel compensated by the first compensation value to obtain a second absolute position.
Specifically, the second absolute position is synthesized from lower bits of the first subdivision data and upper bits of the second subdivision data, where: the first subdivision data is obtained by resolving the instantaneous angle of the main code channel and the instantaneous angle of the segment code channel compensated by the first compensation value; and the second subdivision data is obtained by resolving according to the instantaneous angle of the main track and the instantaneous angle of the vernier track.
Step S65: the first absolute position and the second absolute position are compared, and an error obtained by the comparison (i.e., a cursor engagement error) is used as a second compensation value. Similarly, the second compensation value can be written into the absolute value encoder, so that the absolute value encoder can compensate the cursor track angle by using the second compensation value, thereby improving the output precision of the absolute value encoder.
Step S66: respectively obtaining the instantaneous angle of a main code channel and the instantaneous angle of a segment code channel of an absolute value encoder, then compensating the instantaneous angle of the segment code channel by using a first compensation value, resolving according to the instantaneous angle of the main code channel and the angle of the segment code channel compensated by the first compensation value to obtain a third absolute position, and resolving according to the instantaneous angle of the main code channel to obtain a fourth absolute position.
Step S67: the lower bits of the third absolute position are compared with the lower bits of the fourth absolute position, and the error obtained by the comparison (i.e., the lower error) is taken as a third compensation value. Similarly, the third compensation value may be written in the absolute value encoder, so that the absolute value encoder may compensate the angle of the main track using the third compensation value, thereby improving the output accuracy of the absolute value encoder.
The steps for obtaining the second compensation value (i.e., steps S63-S65) and the steps for obtaining the third compensation value (i.e., steps S66-S67) are independent from each other, and the sequence of execution can be exchanged.
The invention also provides a system for acquiring the compensation parameters of the absolute value encoder, which comprises a storage device and a processing device, wherein codes for the processing device to run are stored in the storage device, so as to execute the method.
As shown in fig. 7, the present invention further provides an absolute value encoder compensation parameter obtaining system, which can be implemented by an upper computer (e.g., a personal computer) connected to the absolute value encoder, and the upper computer runs corresponding software.
The absolute value encoder compensation parameter acquiring system of the present embodiment includes a code channel information acquiring unit 71 and a first calculating unit 72, wherein: the code channel information acquiring unit 71 is configured to acquire the main code channel angle information and the segment code channel angle information from the absolute value encoder (preferably, when the absolute value encoder operates at a constant speed). The first calculating unit 72 is configured to calculate an angular offset of the segment code track with respect to the main code track according to the main code track angle information and the segment code track angle information of the absolute value encoder, and use the angular offset as a first compensation value. The absolute value encoder can compensate the segment code track angle by using the first compensation value, thereby improving the accuracy of the output position.
To improve the accuracy of the first compensation value, the main track angle information and the segment track angle information acquired by the track information acquisition unit 71 may include: and when the encoder runs for at least one week, the absolute value encoder generates the main code channel angle and the segment code channel angle at all the sampling points. Accordingly, the first calculation unit 72 takes the average of the instantaneous angular offsets at all the alignment points of the main code track groove and the segment code track groove as the angular offset.
As shown in fig. 8, in another embodiment of the absolute value encoder compensation parameter acquiring system of the present invention, in addition to acquiring the first compensation value by the code channel information acquiring unit 81 and the first calculating unit 82, a second compensation value is acquired by the first calculating unit 83, the second calculating unit 84, and the second calculating unit 85. The absolute value encoder can use the second compensation value to compensate the cursor track angle, thereby improving the accuracy of the output position.
Specifically, the system obtains the instantaneous angle of the main track, the instantaneous angle of the cursor track and the instantaneous angle of the segment track of the absolute value encoder through the track information obtaining unit 81; the first calculating unit 83 calculates a first absolute position according to the instantaneous angle of the main track and the instantaneous angle of the cursor track; the second calculating unit 84 compensates the instantaneous angle of the segment track by using the first compensation value, and calculates to obtain a second absolute position according to the instantaneous angle of the main track, the instantaneous angle of the cursor track and the instantaneous angle of the segment track compensated by the first compensation value; the second calculation unit 85 compares the first absolute position and the second absolute position, and takes an error obtained by the comparison as a second compensation value.
As shown in fig. 9, in another embodiment of the absolute value encoder compensation parameter acquiring system of the present invention, in addition to acquiring the first compensation value by the code channel information acquiring unit 91 and the first calculating unit 92, a third compensation value is acquired by the third calculating unit 93, the fourth calculating unit 94, and the third calculating unit 95. The absolute value encoder can compensate the main code track angle by using the third compensation value, thereby improving the accuracy of the output position.
The code channel information acquiring unit 91 further acquires an instantaneous angle of a main code channel and an instantaneous angle of a segment code channel of the absolute value encoder, respectively; the third calculating unit 93 compensates the instantaneous angle of the segment code track by using the first compensation value, and calculates to obtain a third absolute position according to the instantaneous angle of the main code track and the angle of the segment code track compensated by the first compensation value; the fourth calculating unit 94 calculates to obtain a fourth absolute position according to the instantaneous angle of the main track; the third calculation unit 95 compares the lower bits of the third absolute position with the lower bits of the fourth absolute position, and takes the error obtained by the comparison as a third compensation value.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (13)
1. A method for obtaining compensation parameters of an absolute value encoder is characterized by comprising the following steps:
respectively acquiring main code channel angle information and segment code channel angle information from the absolute value encoder, wherein the acquired main code channel angle information and segment code channel angle information at least comprise main code channel angles and segment code channel angles generated by the absolute value encoder at all sampling points within a duration, and main code channel lines and segment code channel lines are aligned at least once within the duration;
and calculating the angle deviation of the segment code channel relative to the main code channel according to the main code channel angle information and the segment code channel angle information of the absolute value encoder, and taking the angle deviation as a first compensation value, wherein the first compensation value is used for compensating the segment code channel angle of the absolute value encoder.
2. The absolute value encoder compensation parameter acquisition method according to claim 1, wherein the method comprises:
respectively acquiring the instantaneous angle of a main code channel, the instantaneous angle of a vernier code channel and the instantaneous angle of a segment code channel of the absolute value encoder;
calculating a first absolute position according to the instantaneous angle of the main code channel and the instantaneous angle of the vernier code channel;
compensating the instantaneous angle of the segment code channel by using the first compensation value, and resolving according to the instantaneous angle of the main code channel, the instantaneous angle of the cursor code channel and the instantaneous angle of the segment code channel compensated by the first compensation value to obtain a second absolute position;
and comparing the first absolute position with the second absolute position, and taking an error obtained by comparison as a second compensation value, wherein the second compensation value is used for compensating the vernier track angle of the absolute value encoder.
3. The absolute value encoder compensation parameter acquisition method of claim 2, the second absolute position being synthesized from lower bits of the first subdivision data and upper bits of the second subdivision data, wherein:
the first subdivision data is obtained by resolving the instantaneous angle of the main code channel and the instantaneous angle of the segment code channel compensated by the first compensation value;
and the second subdivision data is obtained by resolving according to the instantaneous angle of the main track and the instantaneous angle of the vernier track.
4. The absolute value encoder compensation parameter acquisition method according to claim 2, wherein the method comprises:
respectively acquiring the instantaneous angle of a main code channel and the instantaneous angle of a segment code channel of the absolute value encoder;
compensating the instantaneous angle of the segment code channel by using the first compensation value, resolving according to the instantaneous angle of the main code channel and the angle of the segment code channel compensated by the first compensation value to obtain a third absolute position, and resolving according to the instantaneous angle of the main code channel to obtain a fourth absolute position;
and comparing the lower bits of the third absolute position with the lower bits of the fourth absolute position, and taking the error obtained by comparison as a third compensation value, wherein the third compensation value is used for compensating the main code channel angle of the absolute value encoder.
5. The absolute value encoder compensation parameter acquisition method according to claim 1, wherein the main track angle information and the segment track angle information acquired from the absolute value encoder include: and when the encoder runs for at least one week, the absolute value encoder generates the main code channel angle and the segment code channel angle at all sampling points.
6. The method of claim 5, wherein the calculating the angular offset of the segment code track relative to the main code track according to the main code track angle information and the segment code track angle information of the absolute value encoder comprises:
acquiring all alignment points of the main code channel scribed lines and the segment code channel scribed lines;
the instantaneous angular offset at each alignment point is calculated and the average of all the instantaneous angular offsets is taken as the angular offset.
7. An absolute value encoder compensation parameter acquisition system comprising storage means and processing means, the storage means having stored therein code for execution by the processing means to perform the method of any one of claims 1 to 6.
8. An absolute value encoder compensation parameter acquisition system is characterized by comprising a code channel information acquisition unit and a first calculation unit, wherein: the code channel information acquisition unit is used for respectively acquiring main code channel angle information and segment code channel angle information from the absolute value encoder; the first calculation unit is configured to calculate an angle offset of a segment code channel relative to a main code channel according to the main code channel angle information and the segment code channel angle information of the absolute value encoder, and use the angle offset as a first compensation value, where the first compensation value is used to compensate the segment code channel angle of the absolute value encoder.
9. The absolute value encoder compensation parameter acquisition system according to claim 8, further comprising a first calculation unit, a second calculation unit, and a second calculation unit; wherein: the code channel information acquisition unit is also used for respectively acquiring the instantaneous angle of a main code channel, the instantaneous angle of a cursor code channel and the instantaneous angle of a segment code channel of the absolute value encoder; the first resolving unit is used for resolving a first absolute position according to the instantaneous angle of the main track and the instantaneous angle of the vernier track; the second calculating unit is used for compensating the instantaneous angle of the segment code channel by using the first compensation value and calculating to obtain a second absolute position according to the instantaneous angle of the main code channel, the instantaneous angle of the cursor code channel and the instantaneous angle of the segment code channel compensated by the first compensation value; and the second calculating unit is used for comparing the first absolute position with the second absolute position, and taking an error obtained by comparison as a second compensation value, wherein the second compensation value is used for compensating the cursor track angle of the absolute value encoder.
10. The absolute value encoder compensation parameter acquisition system according to claim 9, wherein the second calculation unit synthesizes the second absolute position by lower bits of the first subdivision data and upper bits of the second subdivision data, wherein: the first subdivision data is obtained by resolving the instantaneous angle of the main code channel and the instantaneous angle of the segment code channel compensated by the first compensation value; and the second subdivision data is obtained by resolving according to the instantaneous angle of the main track and the instantaneous angle of the vernier track.
11. The absolute value encoder compensation parameter acquisition system according to claim 8, further comprising a third calculation unit, a fourth calculation unit, and a third calculation unit: wherein: the code channel information acquisition unit is further used for respectively acquiring the instantaneous angle of the main code channel and the instantaneous angle of the segment code channel of the absolute value encoder; the third calculating unit is used for compensating the instantaneous angle of the segment code channel by using the first compensation value and calculating to obtain a third absolute position according to the instantaneous angle of the main code channel and the angle of the segment code channel compensated by the first compensation value; the fourth resolving unit is used for resolving according to the instantaneous angle of the main code channel to obtain a fourth absolute position; and the third calculating unit is used for comparing the lower bits of the third absolute position with the lower bits of the fourth absolute position, and taking the error obtained by comparison as a third compensation value, wherein the third compensation value is used for compensating the main code channel angle of the absolute value encoder.
12. The absolute value encoder compensation parameter acquisition system according to claim 8, wherein the main track angle information and the segment track angle information acquired by the track information acquisition unit include: and when the encoder runs for at least one week, the absolute value encoder generates the main code channel angle and the segment code channel angle at all sampling points.
13. The absolute value encoder compensation parameter acquisition system of claim 12, wherein the first calculation unit takes an average of instantaneous angular offsets at all alignment points of the main track line and the segment track line as the angular offset.
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| CN111256735B (en) * | 2020-02-24 | 2021-06-01 | 中国科学院长春光学精密机械与物理研究所 | Photoelectric encoder data processing method and device and photoelectric encoder |
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