CN109000702A - Encoder corrects system and method - Google Patents
Encoder corrects system and method Download PDFInfo
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- CN109000702A CN109000702A CN201810470232.1A CN201810470232A CN109000702A CN 109000702 A CN109000702 A CN 109000702A CN 201810470232 A CN201810470232 A CN 201810470232A CN 109000702 A CN109000702 A CN 109000702A
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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
Abstract
The present invention provides a kind of encoders to correct system and method, the system comprises reference encoders, to dragging device, data buffer storage device and host computer；Wherein: tested encoder and reference encoders are rotated by described drive to dragging device；The data buffer storage device acquires the position signal of the tested encoder and reference encoders output with the identical sampling period in the tested encoder and reference encoders synchronous rotary simultaneously；The host computer includes error analysis unit, fitting unit and burning unit, and the error analysis unit is used to generate initial error curve according to the position signal, the fitting unit is used to generate calibration curve according to the initial error curve, and the burning unit is for the calibration curve to be written in the tested encoder.The present invention passes through tested encoder and reference encoders to dragging, and is corrected according to the position signal of reference encoders to tested encoder, and the output accuracy of tested encoder can be greatly improved.
Description
Technical field
The present invention relates to encoder fields, correct system and method more specifically to a kind of encoder.
Background technique
With the rapid development of industry control technology, the continuous propulsion of manufacturing industry upgrading, the development for servo industry is provided
Huge market.Encoder effectively increases the operating accuracy of servo-system as the feedback device in servo-system.And it is exhausted
Various industry are applied to more and more widely because each position of its output is absolutely unique, anti-interference to value encoder
In system, to carry out angle, linear measure longimetry and location control.
High-resolution absolute value optoelectronic encoding device, it is non-thread since in links such as design, production, techniques consistency can be generated
Property error, to will affect its precision.
Consistency nonlinearity erron is the main original for influencing encoder " absolute fix precision " and " repetitive positioning accuracy "
Cause.By taking photoelectric encoder as an example, mainly there are differential nonlinearity error and integral non-linear error in error source.Differential nonlinearity misses
Difference is the high-frequency error being present among each groove of encoder, and it is primary low that integral non-linear error is that encoder one encloses
Frequency error.
If " the absolute fix precision " and " repetitive positioning accuracy " of encoder the value is too large, electricity will cause in servo-system
Machine velocity perturbation is excessive, influences its normal use on certain occasions.
Summary of the invention
The technical problem to be solved in the present invention is that for above-mentioned because consistency nonlinearity erron influences absolute value encoder
The problem of precision, provides a kind of encoder correction system and method.
The technical solution that the present invention solves above-mentioned technical problem is to provide a kind of encoder correction system, for tested
Encoder is corrected；Including reference encoders, to dragging device, data buffer storage device and host computer；Wherein: the tested volume
Code device and reference encoders are rotated by described drive to dragging device；The data buffer storage device is in the tested encoder and benchmark
When decoders-Synchronous rotates, the tested encoder and reference encoders output are acquired simultaneously with the identical sampling period
Position signal；The host computer includes error analysis unit, fitting unit and burning unit, and the error analysis unit is used
In generating initial error curve according to the position signal, the fitting unit is used to generate school according to the initial error curve
Positive curve, the burning unit is for the calibration curve to be written in the tested encoder.
In encoder correction system of the present invention, the initial error curve is the song being made of multiple discrete points
Line, the fitting unit extract low-frequency component and radio-frequency component in the initial error curve using Fast Fourier Transform (FFT),
And integral correction curve is generated according to the low-frequency component interpolation, differential correction curve is generated according to the radio-frequency component interpolation.
In encoder correction system of the present invention, the position signal of the data buffer storage device acquisition is included at least
All sampled datas of the tested encoder and one week institute output position of reference encoders synchronous rotary.
In encoder correction system of the present invention, the error analysis unit includes compensation subelement and more sub
Unit, in which: the position signal that the compensation subelement is used to be acquired according to the data buffer storage device generates thermal compensation signal, and
The position signal of the tested encoder of data buffer storage device acquisition is compensated, so that the position signal of tested encoder
It is aligned with the position signal zero point of reference encoders；The comparing subunit, the position of the tested encoder for zero point to be aligned
Confidence number is compared with the position signal of reference encoders, obtains the initial error curve.
It is described to include motor to dragging device and be fixed on the motor in encoder correction system of the present invention
Shaft on shaft coupling, the tested encoder and reference encoders are attached to the same axial position of the shaft coupling respectively
It sets.
In encoder correction system of the present invention, the system also includes programmable controller and frequency converter, institutes
It states host computer and controls frequency converter by driving the programmable controller, and the motor as described in the transducer drive drives institute
State tested encoder and reference encoders synchronous rotary.
The present invention also provides a kind of encoder bearing calibrations, for being corrected to tested encoder；The tested coding
Device and reference encoders are driven by same a pair of of dragging device to be rotated, which comprises
In the tested encoder and reference encoders synchronous rotary, the quilt is acquired simultaneously with the identical sampling period
The position signal of encoder and reference encoders output is surveyed, and initial error curve is generated according to the position signal；
Calibration curve is generated according to the initial error curve, and the calibration curve is written to the tested encoder
In, the position signal that the calibration curve is used for the output to the tested encoder is corrected.
In encoder bearing calibration of the present invention, the initial error curve is the song being made of multiple discrete points
Line, it is described to include: according to initial error curve generation calibration curve step
The low-frequency component and radio-frequency component in the initial error curve are extracted using Fast Fourier Transform (FFT)；
Integral correction curve is generated according to the low-frequency component interpolation；
Differential correction curve is generated according to the radio-frequency component interpolation.
In encoder bearing calibration of the present invention, the position signal of the data buffer storage device acquisition is included at least
All sampled datas of the tested encoder and one week institute output position of reference encoders synchronous rotary.
It is described that initial error curve packet is generated according to the position signal in encoder bearing calibration of the present invention
It includes:
Thermal compensation signal is generated according to the position signal of data buffer storage device acquisition, and the data buffer storage device is adopted
The position signal of the tested encoder of collection compensates, so that the position signal of tested encoder and the position of reference encoders are believed
The alignment of number zero point；
The position signal of tested encoder that zero point is aligned is compared with the position signal of reference encoders, obtains institute
State initial error curve.
System is corrected the present invention also provides a kind of encoder, including storage device and processing unit, in the storage device
It is stored with the code for processing unit operation, to execute method as described above.
Encoder of the invention corrects system and method, by by tested encoder and reference encoders to dragging, and according to
The position signal of reference encoders corrects tested encoder, and the output accuracy of tested encoder can be greatly improved.
Detailed description of the invention
Fig. 1 is the schematic diagram of inventive encoder correction system first embodiment；
When Fig. 2 in inventive encoder correction system host computer embodiment schematic diagram；
Fig. 3 is the schematic diagram of inventive encoder correction system second embodiment；
Fig. 4 is the flow diagram of inventive encoder bearing calibration embodiment；
Fig. 5 is the flow diagram of another embodiment of inventive encoder bearing calibration；
Fig. 6 is the schematic diagram of inventive encoder correction another embodiment of system.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
It as shown in Figure 1, 2, is the schematic diagram of inventive encoder correction system first embodiment, which corrects system
It can be used for being corrected tested encoder 1, which, which is specifically as follows photoelectric encoder, magnetic coder, band Z, believes
Number incremental encoder etc..Encoder correction system in the present embodiment includes reference encoders 2, delays to dragging device 3, data
Cryopreservation device 4 and host computer 5, wherein data buffer storage device 4 can be the device with high speed data access ability, host computer 5
The device that personal computer etc. has stronger data-handling capacity then can be used, in practical applications, data buffer storage device 4 can also
Storage device by being integrated into host computer 5 replaces.
Particularly, said reference encoder 2 can be selected high-precision absolute value encoder (such as 26, absolute fix precision
±1").It specifically may include motor and shaft coupling to dragging device 3, tested encoder 1 and reference encoders 2 are attached to connection respectively
The rotation center of the same axial position of axis device, i.e., tested encoder 1 and reference encoders 2 is in same point.By this way,
It can guarantee that tested encoder 1 is identical with the revolving speed of reference encoders 2, and the differential seat angle of the two output is constant always.
In the present embodiment, it is tested encoder 1 and is rotated with reference encoders 2 by being driven to dragging device 3, and output bit respectively
Confidence number.Above-mentioned data buffer storage device 4 is used for when tested encoder 1 is with 2 synchronous rotary of reference encoders, with identical sampling
Period acquires the position signal that tested encoder 1 is exported with reference encoders 2 simultaneously.For the accuracy for improving sampled data, number
Position signal acquisition preferably is carried out when tested encoder 1 is at the uniform velocity rotated with reference encoders 2 according to buffer storage 4.
Turn of the encoder 1 with reference encoders 2 is tested when data buffer storage device 4 samples for the quantity for guaranteeing sampled point
Speed cannot be too fast, and preferably lower than 1000 revs/min.Also, the position signal of the data buffer storage device 4 acquisition includes at least tested compile
The sampled data of code device 1 and 2 synchronous rotary of reference encoders, one week institute output position.
Host computer 5 specifically may include error analysis unit 51, fitting unit 52 and burning unit 53, above-mentioned error analysis
The software that unit 51, fitting unit 52 and burning unit 53 can operate in host computer 5 by the hardware in host computer 5 and combination is real
It is existing.
The tested encoder 1 and reference encoders 2 that error analysis unit 51 is used to be acquired according to data buffer storage device 4 export
Position signal generate initial error curve, which, which contains, is tested encoder 1 and benchmark at each sampled point
The difference for the position that encoder 2 exports, had both included low frequency integral error, while also including high frequency differential error.Specifically, data
The position data of the tested encoder 1 collected of buffer storage 4 and the position data of reference encoders 2 are corresponding with sampled point
Discrete data, correspondingly, error analysis unit 51 generate initial error curve be also the curve being made of discrete point.
The error analysis unit 51 specifically may include compensation subelement 511 and comparing subunit 512, in which: compensation is single
Position signal of the member 511 for being acquired according to data buffer storage device 4 generates thermal compensation signal, and data buffer storage 4 is acquired
The position signal of tested encoder 1 compensates, so that the position signal of tested encoder 1 and the position of reference encoders 2 are believed
The alignment of number zero point；The position signal for the tested encoder 1 that comparing subunit 512 is used to for zero point being aligned and reference encoders 2
Position signal is compared, and obtains initial error curve.
Fitting unit 52 is used to generate calibration curve according to above-mentioned initial error curve, i.e., calibration curve is by multiple discrete
Point fitting generates (such as passing through polynomial curve fitting).Specifically, fitting unit 52 can first use Fast Fourier Transform (FFT)
(FTT) low-frequency component and radio-frequency component in initial error curve are extracted, is then generated and is accumulated according to the low-frequency component interpolation of extraction
Divide calibration curve, differential correction curve is generated according to the radio-frequency component interpolation of extraction.In practical applications, due between groove
Differential error is with uniformity, and there is no need to acquire the error in all grooves.In practice, with the encoder of 1024 grooves
For, extract the high frequency error in general 50-60 period.
Burning unit 53 (such as may include differential correction curve and integrate school with by calibration curve that fitting unit 52 generates
Positive curve) it is written in tested encoder 1, the microprocessor for being tested encoder 1 can be according to above-mentioned calibration curve to each output
Position is corrected.
Above-mentioned host computer 5 may also include alarm unit, and the alarm unit is for calibration curve to be written in burning unit 53
To after tested encoder 1, when being tested the error of the output position of encoder 1 and reference encoders 2 more than preset value, output alarm
Signal, to prompt to have the defects that not correcting in tested encoder 1.
As shown in figure 3, further including 6 He of programmable controller in the second embodiment of inventive encoder correction system
Frequency converter 7, host computer 5 controls frequency converter 7 by driving programmable controller 6, and is driven by frequency converter 7 in dragging device
Motor drives tested encoder 1 and 2 synchronous rotary of reference encoders (preferably at the uniform velocity).Host computer 5 also passes through programmable control
Device 6 processed obtains the feedback signal to dragging device 3, to accomplish the revolving speed of closed-loop control motor.
As shown in figure 4, the present invention also provides a kind of encoder bearing calibration, for being corrected to tested encoder；On
State tested encoder and reference encoders and rotation driven by same a pair of of dragging device, this method specifically includes the following steps:
Step S41: in tested encoder and reference encoders synchronous rotary, quilt is acquired simultaneously with the identical sampling period
The position signal of encoder and reference encoders output is surveyed, and initial error curve is generated according to position signal.To guarantee sampling
The quantity of point, when being sampled, the revolving speed for being tested encoder and reference encoders cannot be too fast.Also, it is acquired in the step
Position signal include at least tested encoder and reference encoders synchronous rotary (preferably at the uniform velocity) one week institute output position
All sampled datas.
Above-mentioned initial error curve contains the position that encoder and reference encoders output are tested at each sampled point
Difference had both included low frequency integral error, while also including high frequency differential error.Specifically, the tested coding acquired in the step
The position data of device and the position data of reference encoders are discrete data, correspondingly, the initial error curve of generation
For the curve being made of discrete point.
Specifically, in this step, it can first be generated according to the position signal of the tested encoder of acquisition and reference encoders
Thermal compensation signal, and compensated using position signal of the thermal compensation signal to tested encoder, so that the position of tested encoder
Signal is aligned with the position signal zero point of reference encoders；Then again by the position signal and base of the tested encoder of zero point alignment
The position signal of quasi- encoder is compared, and obtains initial error curve.
Step S42: generating calibration curve according to initial error curve, and calibration curve be written in tested encoder,
The position signal that above-mentioned calibration curve is used for the output to tested encoder is corrected.
To improve correction accuracy, the step is specific can include: is extracted in initial error curve using Fast Fourier Transform (FFT)
Low-frequency component and radio-frequency component, and integral correction curve and according to radio-frequency component interpolation is generated according to low-frequency component interpolation
Generate differential correction curve.
Above-mentioned encoder bearing calibration may additionally include calibration curve and be written to the following step executed after tested encoder
It is rapid: when the error in the output position of tested encoder and the reference encoders is more than preset value, to export alarm signal.Pass through
The step can prompt to have the defects that not correcting in tested encoder.
As shown in figure 5, be the schematic diagram of another embodiment of inventive encoder bearing calibration, for tested encoder into
Row correction；Above-mentioned tested encoder and reference encoders are driven by same a pair of of dragging device to be rotated, and this method specifically includes following step
It is rapid:
Step S51: in tested encoder and reference encoders synchronous rotary, quilt is acquired simultaneously with the identical sampling period
The position signal of encoder and reference encoders output is surveyed, and the position signal of acquisition is stored to data buffer.
Step S52: extracting absolute position from data buffer, count simultaneously real-time rendering absolute position to data amount check
Waveform diagram.
Step S53: judging whether tested encoder and reference encoders rotation reach one week according to absolute position waveform diagram,
If so then execute step S54, otherwise return step S51.
Step S54: thermal compensation signal is generated according to the position signal of the tested encoder of acquisition and reference encoders, and is used
The thermal compensation signal compensates the position signal of tested encoder, so that the position signal and reference encoders of tested encoder
Position signal zero point alignment；
Step S55: the position signal of tested encoder of zero point alignment and the position signal of reference encoders are compared
Compared with acquisition initial error curve, the initial error curve includes low frequency integral error, while also including high frequency differential error.
Step S56: carrying out fast Fourier operation to above-mentioned initial error curve, extract low-frequency component, and by low frequency
Ingredient interpolation is at integral correction parameter.
Step S57: taking low level to initial error curve, obtains the high frequency with the tested encoder groove number same number period
Error and by the interpolation of low level high frequency error at differential correction parameter, wherein each period is that the differential represented in every groove misses
Difference.
Step S58: by the specified address of integral correction parameter and differential correction parameter write-in microprocessor.
The present invention also provides a kind of encoders to correct system, including storage device 61 and processing unit 62, the storage dress
The code being stored in 61 for the processing unit 62 operation is set, to execute method as described above.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with scope of protection of the claims
Subject to.
Claims (12)
1. a kind of encoder corrects system, for being corrected to tested encoder；It is characterised in that it includes reference encoders,
To dragging device, data buffer storage device and host computer；Wherein: the tested encoder and reference encoders are by described to dragging device
Drive rotation；The data buffer storage device is in the tested encoder and reference encoders synchronous rotary, with identical sampling
Period acquires the position signal of the tested encoder and reference encoders output simultaneously；The host computer includes error point
Unit, fitting unit and burning unit are analysed, and the error analysis unit is used to generate original mistake according to the position signal
Poor curve, the fitting unit are used to generate calibration curve according to the initial error curve, and the burning unit is used for institute
Calibration curve is stated to be written in the tested encoder.
2. encoder according to claim 1 corrects system, which is characterized in that the initial error curve be by it is multiple from
The curve of scatterplot composition, the fitting unit are used for:
The low-frequency component and radio-frequency component in the initial error curve are extracted, and is generated and is integrated according to the low-frequency component interpolation
Calibration curve generates differential correction curve according to the radio-frequency component interpolation.
3. encoder according to claim 2 corrects system, which is characterized in that the fitting unit passes through fast Fourier
The low-frequency component and radio-frequency component in the initial error curve are extracted in transformation.
4. encoder according to claim 1 corrects system, which is characterized in that the position of the data buffer storage device acquisition
Signal includes at least the sampled data of the tested encoder and one week institute output position of reference encoders synchronous rotary.
5. encoder according to claim 4 corrects system, which is characterized in that the error analysis unit includes compensation
Unit and comparing subunit, in which: the position signal that the compensation subelement is used to be acquired according to the data buffer storage device is raw
It is compensated at thermal compensation signal, and to the position signal of the tested encoder of data buffer storage device acquisition, so that tested compile
The position signal of code device is aligned with the position signal zero point of reference encoders；The comparing subunit, for be aligned zero point
The position signal of tested encoder is compared with the position signal of reference encoders, obtains the initial error curve.
6. encoder according to claim 1 corrects system, which is characterized in that described includes motor to dragging device and solid
The shaft coupling being scheduled in the shaft of the motor, the tested encoder and reference encoders are attached to the shaft coupling respectively
Same axial position.
7. encoder according to claim 6 corrects system, which is characterized in that the system also includes programmable controllers
And frequency converter, the host computer control frequency converter by driving the programmable controller, and by the transducer drive institute
It states motor and drives the tested encoder and reference encoders synchronous rotary.
8. a kind of encoder bearing calibration, for being corrected to tested encoder；It is characterized in that, the tested encoder with
Reference encoders drive rotation by same a pair of of dragging device, which comprises
In the tested encoder and reference encoders synchronous rotary, the tested volume is acquired simultaneously with the identical sampling period
The position signal of code device and reference encoders output, and according to the position of the tested encoder and the reference encoders
Signal generates initial error curve；
Calibration curve is generated according to the initial error curve, and the calibration curve is written in the tested encoder,
The position signal that the calibration curve is used for the output to the tested encoder is corrected.
9. encoder bearing calibration according to claim 7, which is characterized in that the initial error curve be by it is multiple from
The curve of scatterplot composition, it is described to include: according to initial error curve generation calibration curve step
The low-frequency component and radio-frequency component in the initial error curve are extracted using Fast Fourier Transform (FFT)；
Integral correction curve is generated according to the low-frequency component interpolation；
Differential correction curve is generated according to the radio-frequency component interpolation.
10. encoder bearing calibration according to claim 9, which is characterized in that the position of the data buffer storage device acquisition
Confidence number includes at least the sampled data of the tested encoder and one week institute output position of reference encoders synchronous rotary.
11. encoder bearing calibration according to claim 8, which is characterized in that it is described according to the tested encoder with
The position signal of the reference encoders generates initial error curve
Thermal compensation signal is generated according to the position signal of the tested encoder and the reference encoders, and is believed using the compensation
Number the position signal of the tested encoder is compensated, so that the position of the position signal of tested encoder and reference encoders
Set signal zero alignment；
The position signal of tested encoder that zero point is aligned is compared with the position signal of reference encoders, obtains the original
Beginning error curve.
12. a kind of encoder corrects system, which is characterized in that including storage device and processing unit, deposited in the storage device
The code for processing unit operation is contained, to execute the method as described in any one of claim 7-10.
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| 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 |
| CN110375788B (en) * | 2019-07-26 | 2021-04-13 | 中国航空工业集团公司北京长城计量测试技术研究所 | Four-way orthogonal differential signal demodulation instrument calibration method and system |
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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 |
| WO2021103231A1 (en) * | 2019-11-29 | 2021-06-03 | 浙江禾川科技股份有限公司 | Encoder measurement and calibration method, device and apparatus, as well as storage medium |
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| CN110940371A (en) * | 2019-12-13 | 2020-03-31 | 浙江禾川科技股份有限公司 | Calibration method, device and equipment of 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 |
| CN113514092A (en) * | 2020-04-10 | 2021-10-19 | 昆明桑达科技有限公司 | Testing system and testing method of encoder |
| CN113758513A (en) * | 2020-06-04 | 2021-12-07 | 杭州海康威视数字技术股份有限公司 | Method for detecting precision of magnetic encoder in equipment and electronic equipment |
| WO2021244278A1 (en) * | 2020-06-04 | 2021-12-09 | 杭州海康威视数字技术股份有限公司 | Accuracy detection method for magnetic encoder in device, and electronic device |
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| CN114046815A (en) * | 2021-11-09 | 2022-02-15 | 上海精赋达传感技术有限公司 | Encoder self-correction method and device based on deep learning |
| CN114046815B (en) * | 2021-11-09 | 2024-02-09 | 上海精赋达传感技术有限公司 | Encoder self-correction method and device based on deep learning |
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