CN108871382A - A kind of error correcting method and system of the photoelectric encoder based on error fit - Google Patents
A kind of error correcting method and system of the photoelectric encoder based on error fit Download PDFInfo
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Abstract
The present invention provides the error correcting methods and system of a kind of photoelectric encoder based on error fit, the method is by carrying out the error-detecting in circumference to photoelectric encoder, and according to the data of collected error sampled point, the long-period error of photoelectric encoder is fitted, error fit function f (x)=Asin (x- η) is obtained；Then by f (x) discretization and error correction data are calculated, and the original angle data that photoelectric encoder exports are modified according to error correction data.Error correcting method of the invention has many advantages, such as that implementation is simple, amendment precision is high, is easy to product batch production, has important practical significance to raising photoelectric encoder Product Precision.
Description
Technical field
The present invention relates to photoelectric displacement Technology of Precision Measurement field, in particular to a kind of photoelectric coding based on error fit
The error correcting method and system of device.
Background technique
Photoelectric encoder is that one kind by photoelectric conversion converts the mechanical geometric displacement on the output shaft to pulse or number
Word amount, integrate light, mechanical, electrical digital angle position sensor.Photoelectric encoder is by grating encoder and Photoelectric Detection
Device composition.Its measurement range is wider, is widely used in electro-optic theodolite, radar, aerospace, robot, numerical control machine
Bed, the numerous areas such as director and high precision closed loop speed-regulating system.Space flight, military affairs, industry these to the volume of device and again
Amount has the field of strict demand.The angle measurement accuracy for improving low profile photovoltaic encoder is current important research content.
For low profile photovoltaic encoder since its grating encoder radius is smaller, the code-disc degree of eccentricity misses low profile photovoltaic encoder angle measurement
The influence of difference is very big.Currently used method is that code-disc bias bring is eliminated by the way of diameter reading head, diameter decoupling
Angle error." diameter reading, diameter decoupling " is a kind of existing common mode for eliminating error, and this method reads two
Head be individually positioned in code-disc to path position, and acquire the angle information to path position simultaneously.By mutually supporting for diameter reading
Disappear, realizes the elimination to code-disc " eccentric error ".Since this method needs to increase low profile photovoltaic coding using multiple reading heads
The cost and installation complexity of device.
For this purpose, a kind of method of the elimination from code-disc bias bring angle error is studied, to current photoelectric encoder
Production has great importance.
Summary of the invention
For this reason, it may be necessary to provide a kind of technical solution of the error correction of photoelectric encoder based on error fit, solve existing
The problems such as at high cost, precision is low, complexity is high existing for the error correcting method of some photoelectric encoders.
To achieve the above object, a kind of error correction side of photoelectric encoder based on error fit is inventor provided
Method the described method comprises the following steps：
By the center of angle reference and photoelectric encoder to be modified by connection shaft connection, angle reference and light are controlled
Photoelectric coder rotates coaxially, respectively the angle of receiving angle benchmark and photoelectric encoder each sampling point position output in circumference
Value, and the difference of the angle value for the output that both calculates each sampling point position, obtain the corresponding angle of each sampling point position and miss
Difference e (i), calculation formula are as follows：
E (i)=a (i)-b (i)
Wherein, i is sampled point, and a (i) is the photoelectric encoder output angle angle value to be modified of i-th of error sampled point, b (i)
For the angle reference output valve of i-th of error sampled point；
The corresponding angle error value of each sampling point position is fitted using error function f (x)=Asin (x- η),
And the coefficient A and η of error function f (x) is found out, obtain the expression of the fitting function f (x) of photoelectric encoder error to be modified
Formula；
The corresponding error correction data of photoelectric encoder to be modified are calculated according to the fitting function f (x), it is specific to wrap
It includes：
(1) it to the angle value of photoelectric encoder output, is normalized after being translated into binary system and maps to 0~2 π range
Interior, formula is as follows：
Wherein, θ represents the angle radian value after discretization, aMIndicate photoelectric encoder output angle value be converted into two into
High M bit value after system；
(2) x=θ is enabled, the corresponding error correction data of photoelectric encoder to be modified are calculated, formula is as follows：
Wherein, f (θ) indicates error correction data；
The angle value that photoelectric encoder exports in circumference is modified using error correction data, formula is as follows：
A=aM-f(θ)
Wherein, aMAfter indicating that high M of the angle value exported before photoelectric encoder amendment, a indicate photoelectric encoder amendment
The angle value of output.Further, the numerical value of M is not less than 8.
Further, " using error function f (x)=Asin (x- η) to the corresponding angle error value of each sampling point position
It is fitted, and the coefficient A and η " for finding out error function f (x) includes：
The coefficient A and η of error function f (x) is calculated using least square method, it is specific as follows：
(1) mean square deviation of f (x) and e (i) are calculated, formula is as follows：
(2) { A, η } when the numerical value of F being taken to reach minimum is that optimal parameter to find { A, η } value when F minimum value takes F
To the partial derivative of A and η, and it is enabled to be equal to zero, obtains following formula：
By solving the equation group of above formula, coefficient solution { A, η } can be obtained, obtained A and η is for error function f's (x)
Number.
Further, the number of circumference up-sampling point n is 4 or more, and is spaced equidistant radian and is set on the circumference.
Further, the angle reference includes that angle reference generator and precision are greater than 2 " reference encoders.
Inventor additionally provides a kind of error correction systems of photoelectric encoder based on error fit, the system comprises
Processor, error detecting apparatus and computer program；
The error detecting apparatus includes transmission mechanism, the first placement platform, the second placement platform and connects shaft, described
First placement platform and the second placement platform can be rotated coaxially by connection shaft connection under transmission mechanism effect；To
Modified photoelectric encoder is set to first placement platform, and angle reference is set to second placement platform；Described
Several sampled points are respectively arranged on one placement platform and the second placement platform, setting on two set-points using point position correspondence
It sets；
The computer program realizes following steps when being executed by processor：
The angle value of receiving angle benchmark and photoelectric encoder each sampling point position output in circumference, and calculate each
The difference of the angle value of both sampling point positions output, obtains the corresponding angle error value e (i) of each sampling point position, calculates
Formula is as follows：
E (i)=a (i)-b (i)
In formula, i is sampled point, and a (i) is the photoelectric encoder output angle angle value to be modified of i-th of error sampled point, b (i)
For the angle reference output valve of i-th of error sampled point.
The corresponding angle error value of each sampling point position is fitted using error function f (x)=Asin (x- η),
And the coefficient A and η of error function f (x) is found out, obtain the expression of the fitting function f (x) of photoelectric encoder error to be modified
Formula；
The corresponding error correction data of photoelectric encoder to be modified are calculated according to the fitting function f (x)；Specific packet
It includes：
(1) it to the angle value of photoelectric encoder output, is normalized after being translated into binary system and maps to 0~2 π range
Interior, formula is as follows：
Wherein, θ represents the angle radian value after discretization, aMIndicate photoelectric encoder output angle value be converted into two into
High M bit value after system；
(2) x=θ is enabled, the corresponding error correction data of photoelectric encoder to be modified are calculated, formula is as follows：
Wherein, f (θ) indicates error correction data；
The angle value that photoelectric encoder exports in circumference is modified using error correction data, formula is as follows：
A=aM-f(θ)
Wherein, aMAfter indicating that high M of the angle value exported before photoelectric encoder amendment, a indicate photoelectric encoder amendment
The angle value of output.Further, the numerical value of M is not less than 8.
Further, realize step " using error function f (x)=Asin when the computer program is executed by processor
(x- η) is fitted the corresponding angle error value of each sampling point position, and finds out coefficient A and η " packet of error function f (x)
It includes：
The coefficient A and η of error function f (x) is calculated using least square method, it is specific as follows：
(1) mean square deviation of f (x) and e (i) are calculated, formula is as follows：
(2) { A, η } when the numerical value of F being taken to reach minimum is that optimal parameter to find { A, η } value when F minimum value takes F
To the partial derivative of A and η, and it is enabled to be equal to zero, obtains following formula：
By solving the equation group of above formula, coefficient solution { A, η } can be obtained, obtained A and η is for error function f's (x)
Number.
Further, the number of circumference up-sampling point n is 4 or more, and is spaced equidistant radian and is set on the circumference.
Further, the angle reference includes that angle reference generator and precision are greater than 2 " reference encoders.
The present invention provides the error correcting method and system of a kind of photoelectric encoder based on error fit, the methods
By carrying out the error-detecting in circumference to photoelectric encoder, and according to the data of collected error sampled point, to photoelectricity
The long-period error of encoder is fitted, and obtains error fit function f (x)=Asin (x- η)；Then simultaneously by f (x) discretization
Error correction data are calculated, and the original angle data that photoelectric encoder exports are modified according to error correction data.
Error correcting method of the invention has many advantages, such as that implementation is simple, amendment precision is high, is easy to product batch production, to raising photoelectricity
Encoder product precision has important practical significance.
Detailed description of the invention
Fig. 1 is the process of the error correcting method for the photoelectric encoder based on error fit that one embodiment of the invention is related to
Figure；
The structure of the error correction systems for the photoelectric encoder based on error fit that Fig. 2 one embodiment of the invention is related to is shown
It is intended to；
Appended drawing reference：
11, photoelectric encoder to be modified；12, shaft is connected；13, angle reference.
Specific embodiment
Technology contents, construction feature, the objects and the effects for detailed description technical solution, below in conjunction with specific reality
It applies example and attached drawing is cooperated to be explained in detail.
Referring to Fig. 1, the error correction side for the photoelectric encoder based on error fit being related to for one embodiment of the invention
The flow chart of method；It the described method comprises the following steps：
The center of angle reference and photoelectric encoder to be modified is controlled into angle reference by connection shaft connection first
It is rotated coaxially with photoelectric encoder.Preferably, in the angle error of photoelectric encoder, according to error change periodic classification, including：
Long-period error and short-term error.Wherein, long-period error changes 1 period in circumference (360 °), the present invention be directed to
Photoelectric encoder long-period error is modified.
Then enter step each sampling point position output in circumference of S101 receiving angle benchmark and photoelectric encoder
Angle value, and the difference of the angle value for the output that both calculates each sampling point position, obtain the corresponding angle of each sampling point position
Spend error amount.
Specifically, after the numerical value exported at angle reference and the 1st error sampled point of photoelectric encoder is reset, remember respectively
Record in lower circumference the angle b (i) that the angle reference exports at n 1~n of sampled point of position at equal intervals, i={ 1~n } and institute
Photoelectric encoder output angle angle value a (i) to be modified is stated, the error amount at sampled point i is：
E (i)=a (i)-b (i)
Preferably, in order to improve sampling precision, the number that circumference up-samples point n is 4 or more, and is spaced equidistant radian and sets
It is placed on the circumference.In the present embodiment, the precision of the angle reference is greater than the 3 to 5 of photoelectric encoder to be modified
Again, it is preferred that angle reference of the present invention is angle reference generator and precision better than 2 ", the baseline encoded that resolution ratio is 25
Device (i.e. high-precision photoelectric encoder), the precision of photoelectric encoder to be modified is not better than 20 ".
S102 is then entered step using error function f (x)=Asin (x- η) to the corresponding angle of each sampling point position
Error amount e (i) is fitted, and finds out the coefficient A and η of error function f (x), obtains photoelectric encoder error to be modified
The expression formula of fitting function f (x).
In the present embodiment, " using error function f (x)=Asin (x- η) to the corresponding angle of each sampling point position
Error amount is fitted, and the coefficient A and η " for finding out error function f (x) includes：
The coefficient A and η of error function f (x) is calculated using least square method, it is specific as follows：
(1) mean square deviation of f (x) and e (i) are calculated, formula is as follows：
(2) { A, η } when the numerical value of F being taken to reach minimum is that optimal parameter to find { A, η } value when F minimum value takes F
To the partial derivative of A and η, and it is enabled to be equal to zero, obtains following formula：
By solving the equation group of above formula, coefficient solution { A, η } can be obtained, obtained A and η is for error function f's (x)
Number.
In other embodiments, error function f can also be calculated using Fourier decomposition method, Wavelet Transform
(x) coefficient A and η, the mode that both algorithms solve coefficient A and η in f (x)=Asin (x- η) is the prior art, herein not
It repeats again.
It then enters step S103 and calculates the corresponding error of photoelectric encoder to be modified according to the fitting function f (x)
Correct data；In the present embodiment, the numerical value of M is not less than 8, specifically includes：
(1) it to the angle value of photoelectric encoder output, is normalized after being translated into binary system and maps to 0~2 π range
Interior, formula is as follows：
Wherein, θ represents the angle radian value after discretization, aMIndicate photoelectric encoder output angle value be converted into two into
High M bit value after system；
(2) x=θ is enabled, the corresponding error correction data of photoelectric encoder to be modified are calculated, formula is as follows：
Wherein, f (θ) indicates error correction data；
It then enters step S104 and the angle value that photoelectric encoder exports in circumference is carried out using error correction data
Amendment, formula are as follows：
A=aM-f(θ)
Wherein, aMIndicate that high M of the angle value exported before photoelectric encoder is corrected at sampled point n, a indicate that photoelectricity is compiled
The angle value exported after code device amendment.
The present invention also provides a kind of error correction systems of photoelectric encoder based on error fit, the system comprises
Processor, error detecting apparatus and computer program；
As shown in Fig. 2, the error detecting apparatus includes transmission mechanism, the first placement platform, the second placement platform and company
Spindle bar 12, first placement platform and the second placement platform can be acted on by connection shaft connection in transmission mechanism
Under rotate coaxially；Photoelectric encoder 11 to be modified is set to first placement platform, and angle reference 13 is set to described
Two placement platforms；Several sampled points are respectively arranged on first placement platform and the second placement platform, on two set-points
Using point a position be correspondingly arranged；
The computer program realizes following steps when being executed by processor：
The angle value of receiving angle benchmark and photoelectric encoder each sampling point position output in circumference, and calculate each
The difference of the angle value of both sampling point positions output, obtains the corresponding angle error value of each sampling point position；
The corresponding angle error value of each sampling point position is fitted using error function f (x)=Asin (x- η),
And the coefficient A and η of error function f (x) is found out, obtain the expression of the fitting function f (x) of photoelectric encoder error to be modified
Formula；
The corresponding error correction data of photoelectric encoder to be modified are calculated according to the fitting function f (x)；Specific packet
It includes：
(1) it to the angle value of photoelectric encoder output, is normalized after being translated into binary system and maps to 0~2 π range
Interior, formula is as follows：
Wherein, θ represents the angle radian value after discretization, aMIndicate photoelectric encoder output angle value be converted into two into
High M bit value after system；
(2) x=θ is enabled, the corresponding error correction data of photoelectric encoder to be modified are calculated, formula is as follows：
Wherein, f (θ) indicates error correction data；
The angle value that photoelectric encoder exports in circumference is modified using error correction data, formula is as follows：
A=aM-f(θ)
Wherein, aMIt indicates high M of the angle value of photoelectric encoder output, is exported after a expression photoelectric encoder amendment
Angle value.
In certain embodiments, in order to improve the precision of error correction data, the numerical value of M is not less than 8.The angle reference
Be greater than 2 including angle reference generator and precision " reference encoders.
In certain embodiments, realize step " using error function f (x) when the computer program is executed by processor
=Asin (x- η) is fitted the corresponding angle error value of each sampling point position, and finds out the coefficient A of error function f (x)
And η " includes：
The coefficient A and η of error function f (x) is calculated using least square method, it is specific as follows：
(1) mean square deviation of f (x) and e (i) are calculated, formula is as follows：
(2) { A, η } when the numerical value of F being taken to reach minimum is that optimal parameter to find { A, η } value when F minimum value takes F
To the partial derivative of A and η, and it is enabled to be equal to zero, obtains following formula：
By solving the equation group of above formula, coefficient solution { A, η } can be obtained, obtained A and η is for error function f's (x)
Number.Have many advantages, such as that arithmetic speed is fast, operation is accurate using least square method, be easily achieved.
In certain embodiments, in order to improve sampling precision, the number that circumference up-samples point n is 4 or more, and be spaced etc.
It is set on the circumference away from radian.
The present invention provides the error correcting method and system of a kind of photoelectric encoder based on error fit, the methods
By carrying out the error-detecting in circumference to photoelectric encoder, and according to the data of collected error sampled point, to photoelectricity
The long-period error of encoder is fitted, and obtains error fit function f (x)=Asin (x- η)；Then simultaneously by f (x) discretization
Error correction data are calculated, and the original angle data that photoelectric encoder exports are modified according to error correction data.
Error correcting method of the invention has many advantages, such as that implementation is simple, amendment precision is high, is easy to product batch production, to raising photoelectricity
Encoder product precision has important practical significance.
It should be noted that being not intended to limit although the various embodiments described above have been described herein
Scope of patent protection of the invention.Therefore, it based on innovative idea of the invention, change that embodiment described herein is carried out and is repaired
Change, or using equivalent structure or equivalent flow shift made by description of the invention and accompanying drawing content, it directly or indirectly will be with
Upper technical solution is used in other related technical areas, is included within scope of patent protection of the invention.
Claims (10)
1. a kind of error correcting method of the photoelectric encoder based on error fit, which is characterized in that the method includes following
Step：
By the main shaft of angle reference and photoelectric encoder to be modified by connection shaft connection, angle reference and photoelectric coding are controlled
Device rotates coaxially, respectively the angle value of receiving angle benchmark and photoelectric encoder each sampling point position output in circumference, and
The difference for calculating both each sampling point positions output angle angle value obtains the corresponding angle error value e of each sampling point position
(i), calculation formula is as follows：
E (i)=a (i)-b (i)
Wherein, i is sampled point, and a (i) is the photoelectric encoder output angle angle value to be modified of i-th of error sampled point, and b (i) is the
The angle reference output valve of i error sampled point；
The corresponding angle error value of each sampling point position is fitted using error function f (x)=Asin (x- η), and is asked
The coefficient A and η of error function f (x) out, obtains the expression formula of the fitting function f (x) of photoelectric encoder error to be modified；
The corresponding error correction data of photoelectric encoder to be modified are calculated according to the fitting function f (x)；It specifically includes：
1) it to the angle value of photoelectric encoder output, normalizes and is mapped within the scope of 0~2 π after being translated into binary system, it is public
Formula is as follows：
Wherein, θ represents the angle radian value after discretization, aMAfter indicating that the angle value of photoelectric encoder output is converted into binary system
High M bit value；
2) the corresponding error correction data of photoelectric encoder to be modified are calculated, formula is as follows：
Wherein, f (θ) indicates error correction data；
The angle value that photoelectric encoder exports in circumference is modified using error correction data, formula is as follows：
A=aM-f(θ)
Wherein, aMIt indicates high M of the angle value exported before photoelectric encoder amendment, is exported after a expression photoelectric encoder amendment
Angle value.
2. the error correcting method of the photoelectric encoder based on error fit as described in claim 1, which is characterized in that M's
Numerical value is not less than 8.
3. the error correcting method of the photoelectric encoder based on error fit as described in claim 1, which is characterized in that " adopt
The corresponding angle error value of each sampling point position is fitted with error function f (x)=Asin (x- η), and finds out error
The coefficient A and η " of function f (x) includes：
The coefficient A and η of error function f (x) is calculated using least square method, it is specific as follows：
1) setting x (i) is photoelectric encoder in the angle value of i sampled point, calculates the mean square deviation of f (x) and e (i), formula is as follows：
2) { A, η } when the numerical value of F being taken to reach minimum is that optimal parameter to find { A, η } value when F minimum value takes F to A and η
Partial derivative, and enable its be equal to zero, obtain following formula：
By solving the equation group of above formula, coefficient solution { A, η } can be obtained, obtained A and η is the coefficient of error function f (x).
4. the error correcting method of the photoelectric encoder based on error fit as described in claim 1, which is characterized in that circumference
The number for up-sampling point n is 4 or more, and is spaced equidistant radian and is set on the circumference.
5. the error correcting method of the photoelectric encoder based on error fit as described in claim 1, which is characterized in that described
Angle reference includes that angle reference generator and precision are greater than 2 " reference encoders.
6. a kind of error correction systems of the photoelectric encoder based on error fit, which is characterized in that the system comprises processing
Device, error detecting apparatus and computer program；
The error detecting apparatus includes transmission mechanism, the first placement platform, the second placement platform and connects shaft, and described first
Placement platform and the second placement platform can be rotated coaxially by connection shaft connection under transmission mechanism effect；It is to be modified
Photoelectric encoder be set to first placement platform, angle reference is set to second placement platform；Described first puts
Several sampled points are respectively arranged on horizontalization platform and the second placement platform, being correspondingly arranged on two set-points using a position；
The computer program realizes following steps when being executed by processor：
The angle value of receiving angle benchmark and photoelectric encoder each sampling point position output in circumference, and calculate each sampling
The difference of both point positions angle value of output, obtains the corresponding angle error value e (i) of each sampling point position, calculation formula
It is as follows：
E (i)=a (i)-b (i)
Wherein, i is sampled point, and a (i) is the photoelectric encoder output angle angle value to be modified of i-th of error sampled point, and b (i) is the
The angle reference output valve of i error sampled point；
The corresponding angle error value of each sampling point position is fitted using error function f (x)=Asin (x- η), and is asked
The coefficient A and η of error function f (x) out, obtains the expression formula of the fitting function f (x) of photoelectric encoder error to be modified；
The corresponding error correction data of photoelectric encoder to be modified are calculated according to the fitting function f (x)；It specifically includes：
1) it to the angle value of photoelectric encoder output, normalizes and is mapped within the scope of 0~2 π after being translated into binary system, it is public
Formula is as follows：
Wherein, θ represents the angle radian value after discretization, aMAfter indicating that the angle value of photoelectric encoder output is converted into binary system
High M bit value；
2) x=θ is enabled, the corresponding error correction data of photoelectric encoder to be modified are calculated, formula is as follows：
Wherein, f (θ) indicates error correction data；
The angle value that photoelectric encoder exports in circumference is modified using error correction data, formula is as follows：
A=aM-f(θ)
Wherein, aMIt indicates high M of the angle value exported before photoelectric encoder amendment, is exported after a expression photoelectric encoder amendment
Angle value.
7. the error correction systems of the photoelectric encoder based on error fit as claimed in claim 6, which is characterized in that M's
Numerical value is not less than 8.
8. the error correction systems of the photoelectric encoder based on error fit as claimed in claim 6, which is characterized in that described
Realize step " using error function f (x)=Asin (x- η) to each sampling point position when computer program is executed by processor
Corresponding angle error value is fitted, and the coefficient A and η " for finding out error function f (x) includes：
The coefficient A and η of error function f (x) is calculated using least square method, it is specific as follows：
1) mean square deviation of f (x) and e (i) are calculated, formula is as follows：
2) { A, η } when the numerical value of F being taken to reach minimum is that optimal parameter to find { A, η } value when F minimum value takes F to A and η
Partial derivative, and enable its be equal to zero, obtain following formula：
By solving the equation group of above formula, coefficient solution { A, η } can be obtained, obtained A and η is the coefficient of error function f (x).
9. the error correction systems of the photoelectric encoder based on error fit as claimed in claim 6, which is characterized in that circumference
The number for up-sampling point n is 4 or more, and is spaced equidistant radian and is set on the circumference.
10. the error correction systems of the photoelectric encoder based on error fit as claimed in claim 6, which is characterized in that institute
Stating angle reference includes that angle reference generator and precision are greater than 2 " reference encoders.
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| CN110849406A (en) * | 2019-11-29 | 2020-02-28 | 浙江禾川科技股份有限公司 | Measuring and calibrating method, device and equipment of encoder and storage medium |
| CN111336952A (en) * | 2020-02-26 | 2020-06-26 | 北京空间机电研究所 | System, method and device for correcting angle of induction synchronizer |
| CN113063450A (en) * | 2021-03-18 | 2021-07-02 | 浙江禾川科技股份有限公司 | Sensor position adjusting method, device, equipment and storage medium in encoder |
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| CN110849406B (en) * | 2019-11-29 | 2020-09-18 | 浙江禾川科技股份有限公司 | Measuring and calibrating method, device and equipment of encoder and storage medium |
| CN111336952A (en) * | 2020-02-26 | 2020-06-26 | 北京空间机电研究所 | System, method and device for correcting angle of induction synchronizer |
| CN113063450A (en) * | 2021-03-18 | 2021-07-02 | 浙江禾川科技股份有限公司 | Sensor position adjusting method, device, equipment and storage medium in encoder |
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| CN108871382B (en) | 2019-11-15 |
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