CN111156893B - Motor operation angle measuring method and system and joint angle measuring system - Google Patents
Motor operation angle measuring method and system and joint angle measuring system Download PDFInfo
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- CN111156893B CN111156893B CN201911379738.2A CN201911379738A CN111156893B CN 111156893 B CN111156893 B CN 111156893B CN 201911379738 A CN201911379738 A CN 201911379738A CN 111156893 B CN111156893 B CN 111156893B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
Abstract
The invention relates to the technical field of motor control and mechanical arm control, in particular to a motor operation angle measuring method and system and a joint angle measuring system. The motor operation angle measuring method comprises the following steps: and acquiring an encoder value corresponding to the motor at the current moment by adopting an encoder, and searching the motor angle value corresponding to the encoder value at the current moment from a preset comparison table of the motor running angle value and an encoder measured value to be used as the running angle of the motor. According to the motor operation angle measuring method, the comparison table of the motor operation angle value and the encoder measurement value is obtained in advance, the encoder value corresponding to the motor at the current moment is obtained by the magnetic encoder during operation, the motor angle value corresponding to the encoder value at the current moment is searched from the preset comparison table of the motor operation angle value and the encoder measurement value to serve as the operation angle of the motor, and therefore the fact that the mechanical arm can obtain the updated joint angle value after being electrified and after being dragged and taught is guaranteed.
Description
Technical Field
The invention relates to the technical field of motion control of mechanical arms, in particular to a motor operation angle measuring method and system and a joint angle measuring system, which are used for ensuring that the mechanical arms can accurately acquire updated joint angle values after being electrified and dragged for teaching.
Background
In the prior art, in order to obtain absolute position information of motor operation, and to facilitate hollow wiring, a scheme of using a ring magnet at an output shaft end of a motor is generally adopted to obtain the position of motor operation, so as to obtain a joint angle value of a mechanical arm. In the prior art, in the scheme that the encoder of which the output shaft adopts the annular magnet measures the running angle of the motor, the change of the measured encoder value is obviously nonlinear, and the running angle of the motor cannot be intuitively reflected, namely, the value of one encoder does not necessarily correspond to the value of one motor angle, and if the encoder is not processed, the encoder cannot be used in the application of specific mechanical arm control and the like.
Disclosure of Invention
The invention mainly solves the technical problem that the encoder value cannot visually reflect the running angle value of the motor when the running angle of the motor is measured by adopting the encoder in the prior art.
A motor operation angle measuring method comprises the following steps:
and acquiring an encoder value corresponding to the motor at the current moment by adopting an encoder, and searching the motor angle value corresponding to the encoder value at the current moment from a preset comparison table of the motor running angle value and an encoder measured value to be used as the running angle of the motor.
In one embodiment, before the magnetic encoder is used to obtain the encoder value corresponding to the motor at the current moment, the method further includes:
and acquiring a corresponding relation between the running angle value of the motor and the encoder value, and generating a comparison table of the running angle value of the motor and the encoder measured value according to the corresponding relation.
In one embodiment, the obtaining a correspondence between an angle value of motor operation and an encoder value, and the generating a comparison table of the angle value of motor operation and the encoder measurement value according to the correspondence includes:
and acquiring the running angle value of the motor when the value of the encoder is increased by one unit, taking the running angle value of the motor at the moment and the corresponding change value of the encoder as the corresponding relation, and acquiring the running angle value of the motor corresponding to each encoder value according to the corresponding relation so as to acquire a comparison table of the running angle value of the motor and the measured value of the encoder.
In one embodiment, before obtaining the correspondence between the angle value of the stepping motor operation and the encoder value, the method further includes:
and adjusting the BCT value of the encoder to perform preliminary compensation on the magnetic encoder, so that the output value of the encoder meets the preset linear requirement.
In one embodiment, the adjusting the BCT value of the encoder to initially compensate the magnetic encoder such that the output value of the encoder meets a predetermined linearity requirement comprises:
BCT setting: calculating an initial BCT value of the encoder by a simulation method, and setting the BCT value of the encoder as the initial BCT value;
and a compensation judging step: acquiring an angle value of motor operation when an encoder value is increased by one unit as a target angle value, controlling the motor to operate one target angle value every time in one period, acquiring a corresponding encoder value when one target angle value is operated every time, sequentially subtracting a previous encoder value from a currently-obtained encoder value to obtain a plurality of difference values, judging whether the ratio of 1 in the plurality of difference values is greater than a preset value, if so, judging that the output value of the current encoder meets a preset linear requirement, and finishing primary compensation;
otherwise, increasing or decreasing the BCT value by a preset adjustment amount, and repeating the compensation judging step until the preliminary compensation is completed.
An electric machine operating angle measurement system comprising:
and the angle measuring module is used for acquiring the encoder value corresponding to the motor at the current moment, and searching the motor angle value corresponding to the encoder value at the current moment from the preset comparison table of the motor running angle value and the encoder measured value to be used as the running angle of the motor.
In one embodiment, the angle measurement system further comprises:
and the comparison table acquisition module is used for acquiring the corresponding relation between the running angle value of the motor and the encoder value and generating a comparison table between the running angle value of the motor and the encoder measured value according to the corresponding relation.
In one embodiment, the angle measurement system further comprises:
and the preliminary compensation module is used for adjusting the BCT value of the encoder to perform preliminary compensation on the magnetic encoder, so that the output value of the encoder meets the preset linear requirement.
Wherein adjusting the BCT value of the encoder initially compensates the magnetic encoder such that the output value of the encoder meets a predetermined linearity requirement comprises:
BCT setting: calculating an initial BCT value of the encoder by a simulation method, and setting the BCT value of the encoder as the initial BCT value;
and a compensation judging step: acquiring an angle value of motor operation when an encoder value is increased by one unit as a target angle value, controlling the motor to operate one target angle value every time in one period, acquiring a corresponding encoder value when the motor operates one angle value every time, sequentially subtracting a previous encoder value from the encoder value obtained at the current time to obtain a plurality of difference values, judging whether the ratio of 1 in the plurality of difference values is greater than a preset value, if so, judging that the output value of the current encoder meets a preset linear requirement, and finishing primary compensation; otherwise, increasing or decreasing the BCT value by a preset adjustment amount, and repeating the compensation judging step until the preliminary compensation is completed.
A joint angle measurement system comprising a motor operating angle measurement system as described above.
According to the motor operation angle measuring method of the embodiment, the comparison table of the motor operation angle value and the encoder measured value is obtained in advance, when the motor operation angle measuring method works, the magnetic encoder is adopted to obtain the encoder value corresponding to the motor at the current moment, the motor angle value corresponding to the encoder value at the current moment is searched from the preset comparison table of the motor operation angle value and the encoder measured value and is used as the operation angle of the motor, and the motor angle can be accurately obtained through the method.
Drawings
Fig. 1 is a flowchart of a method for measuring an operation angle of a motor according to an embodiment of the present disclosure;
FIG. 2 is a flow chart of a method for performing a preliminary compensation of a magnetic encoder according to an embodiment of the present application;
fig. 3 is a block diagram of a structure of a motor operation angle measurement system according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a hardware connection of a motor operation angle measurement system according to an embodiment of the present disclosure;
FIG. 5 is a flowchart illustrating the operation of each component during linear interpolation of the measurement system according to the embodiment of the present disclosure;
FIG. 6 is a flowchart illustrating the operation of the components during the initial compensation of the measurement system according to the embodiment of the present disclosure;
fig. 7 is a flowchart illustrating operations of components of the measurement system according to the embodiment of the present disclosure.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description and accompanying drawings. Wherein like elements in different embodiments are numbered with like associated elements. In the following description, numerous details are set forth in order to provide a better understanding of the present application. However, those skilled in the art will readily recognize that some of the features may be omitted or replaced with other elements, materials, methods in different instances. In some instances, certain operations related to the present application have not been shown or described in detail in order to avoid obscuring the core of the present application from excessive description, and it is not necessary for those skilled in the art to describe these operations in detail, so that they may be fully understood from the description in the specification and the general knowledge in the art.
Furthermore, the features, operations, or characteristics described in the specification may be combined in any suitable manner to form various embodiments. Also, the various steps or actions in the method descriptions may be transposed or transposed in order, as will be apparent to one of ordinary skill in the art. Thus, the various sequences in the specification and drawings are for the purpose of describing certain embodiments only and are not intended to imply a required sequence unless otherwise indicated where such sequence must be followed.
In the embodiment of the invention, a method for measuring the running angle of a motor is provided, and the accurate measurement of the angle of the motor is mainly realized from the following two aspects:
1) the initial compensation can also be understood as the nonlinear compensation of the magnet, and the linearity of the reading of the encoder is greatly improved after the nonlinear compensation is performed on the magnetic field error of the magnet by adjusting the setting value (BCT) of a nonlinear compensation register of the magnetic field of the encoder, wherein the BCT value is a parameter for adjusting the bias Current.
2) And establishing a comparison table of the running angle value of the motor and the measured value of the encoder, so that each encoder value is uniquely corresponding to one running angle of the motor, thereby realizing the one-to-one mapping of the encoder value and the angle value of the joint shaft of the motor, and the read encoder value can be directly applied.
The first embodiment is as follows:
in this embodiment, a method for measuring an operating angle of a motor according to the present application is described by taking an MA730 encoder as an example. The MA730 annular magnetic encoder is arranged on an output shaft of a stepping motor, as shown in figure 1, and the measuring method comprises the following steps:
step 101: and adjusting the BCT value of the encoder to perform preliminary compensation on the magnetic encoder, so that the output value of the encoder meets the preset linear requirement. The method comprises the steps of acquiring an encoder value corresponding to a motor at the current moment by using a magnetic encoder, and searching a motor angle value corresponding to the encoder value at the current moment from a preset comparison table of the motor running angle value and an encoder measured value to be used as a running angle of the motor.
Specifically, as shown in fig. 2, adjusting the BCT value of the encoder to perform preliminary compensation on the magnetic encoder so that the output value of the encoder meets the preset linearity requirement includes:
BCT setting: calculating an initial BCT value of the encoder by a simulation method, and setting the encoder as the initial BCT value; the BCT value is a setting value of a non-linear compensation register of the MA730 encoder magnetic field, the linearity degree of the encoder value can be adjusted by changing the BCT, and calculating the initial BCT value of the encoder by a simulation method is the prior art in the field and is not described herein again.
And a compensation judging step: acquiring an angle value of motor operation when an encoder value is increased by one unit as a target angle value, controlling the motor to operate one target angle value every time in one period, acquiring a corresponding encoder value when the motor operates one angle value every time, sequentially subtracting a previous encoder value from the encoder value obtained at the current time to obtain a plurality of difference values, judging whether the ratio of 1 in the plurality of difference values is greater than a preset value, if so, judging that the output value of the current encoder meets a preset linear requirement, and finishing primary compensation;
otherwise, increasing or decreasing the BCT value by a preset adjustment amount, and repeating the compensation judging step until the preliminary compensation is completed.
For example, assume that the step angle of the stepping motor is 1.8 degrees, the number of divisions is 16 divisions, and the gear ratio is 5: 1, the running angle of each pulse stepping motor is 0.1125 degrees, the running angle of the output shaft end is 0.0225 degrees, if the stepping step length is set to 4, the running angle of the output shaft end is 0.09 degrees, and the resolution of the encoder is 12 bits at this time, the angle 360/4096 of one encoder value pair is 0.0879, so that when the stepping motor runs for 4 steps, the data change of the encoder is added with 1, so that the output shaft of the stepping motor only needs to be controlled to run for one circle in a mode of the step length being 4, when the stepping motor runs for one step length, the value of the encoder is read once, a plurality of encoder values corresponding to a plurality of step lengths, and the value of the difference value of the encoder values corresponding to two adjacent step lengths in the front and the back is counted, the value may be 0, 1 or 2, 0 represents that the encoders read at the front and back step length positions are the same, and 1 represents that the encoder values corresponding to the front and the back step lengths are different by 1, 2 represents the difference between the encoder values corresponding to the front step and the rear step by 2, and the total number of 0, 1 and 2 is counted. The basis for judging whether the initial compensation (also called nonlinear compensation) of the encoder meets the compensation standard is as follows: and (3) judging whether the percentage ratio (total number/4096 corresponding to each value) of 1 is larger than a preset value, if so, indicating that the initial compensation meets the compensation standard, finishing the initial compensation, if not, finely adjusting the BCT value according to the percentage ratio, and then continuously repeating the compensation judging step until the BCT value meets the compensation standard to finish the compensation. According to actual measurement, the preset value in the embodiment is 70%, that is, if the proportion of 1 can reach more than 70%, the initial compensation is judged to meet the compensation requirement, the initial compensation is completed, the proportion of 1 can reach (70-80%), and the proportions of 0 and 2 (10-15%) can meet the compensation requirement, so that the linearization degree of the output of the encoder is improved, and the aim of further improving the calibration precision can be achieved through subsequent linear interpolation table look-up calibration of the encoder. If the compensation requirement is not met, increasing or decreasing the current BCT value, the increased or decreased adjustment amount is between 1 and 5, specifically, the adjustment amount is faster as the adjustment amount is larger, but the optimal BCT value may be missed, so in this embodiment, the adjustment amount of the BCT value is set to 2, for example, 2 is increased on the basis of the current BCT value, the compensation determining step is continuously performed, if the ratio of 1 is not met, it is determined whether the ratio is increased or decreased, if the ratio is increased, it is determined that the linearity of the encoder value can be improved by increasing the BCT value, the BCT value is continuously increased, and if the ratio of 1 is decreased, it is determined that the BCT value needs to be decreased, according to this method, until the BCT value meeting the compensation requirement is found.
Step 102: and acquiring a corresponding relation between the running angle value of the motor and the encoder value, and generating a comparison table of the running angle value of the motor and the encoder measured value according to the corresponding relation. The existing correspondence between encoder values and measured motor angles is non-linear, for example, the correspondence is as follows:
| angle of motor | 0.09 degree | 0.18 degree | 0.27 degree | 0.36 degree | 0.45 degree |
| Encoder value | 1 | 2 | 2 | 3 | 5 |
As can be seen from the above table, one encoder value may correspond to two motor angles, because a specific motor operating angle (i.e., a motor angle in the table) cannot be known when the encoder value is obtained, and there may be a case where the encoder value is discontinuous, and thus the obtained encoder value cannot be directly used, because it cannot accurately represent the motor angle.
In step 102, an angle value of the motor operation when the value of the encoder is increased by one unit is obtained, for example, when the step motor operates by one step length in a manner that the step length is 4, and the value of the encoder is increased from 2 to 3, the angle of the motor operation is measured to be 0.09 degrees, that is, the corresponding relationship between the angle change value of the motor operation and the change value corresponding to the encoder is: when the motor running angle is 0.09 degrees, the encoder value is increased by 1, the running angle value of the motor corresponding to each encoder value is obtained according to the corresponding relation, so that a comparison table of the running angle value of the motor and the measured value of the encoder is obtained, specifically, an interpolation method is adopted, namely, the smaller value of the angle value corresponding to the same encoder value is obtained, and the missing value is interpolated by solving the average value of the sum of two adjacent angles. For example, the angular value of motor operation obtained by this method is tabulated with the encoder measurement in the following table:
| angle of motor | 0.09 degree | 0.18 degree | 0.36 degree | 0.405 degree | 0.45 degree |
| Encoder value | 1 | 2 | 3 | 4 | 5 |
It can be seen from the above table that each encoder value corresponds to a unique motor angle, and the encoder values are continuous, so that the motor angle and the encoder are in a linear relationship, the maximum error is 0.18 degrees, the maximum error value can be further reduced by improving the resolution of the magnetic encoding, and the unique motor operation angle can be confirmed by measuring one encoder value.
Step 103: and acquiring an encoder value corresponding to the motor at the current moment by adopting a magnetic encoder, and searching the motor angle value corresponding to the encoder value at the current moment from a preset comparison table of the motor running angle value and an encoder measured value to be used as the running angle of the motor. Wherein, the comparison table of the motor running angle value and the encoder measurement value is obtained by the method of step 102.
According to the motor operation angle measuring method, the comparison table of the motor operation angle value and the encoder measured value is obtained in advance, during work, the magnetic encoder is adopted to obtain the encoder value corresponding to the motor at the current moment, the motor angle value corresponding to the encoder value at the current moment is searched from the preset comparison table of the motor operation angle value and the encoder measured value to be used as the operation angle of the motor, and the method is mainly used for improving the accuracy of the joint angle after the mechanical arm is powered on or dragged and taught.
Example two:
the embodiment provides a motor operation angle measurement system, as shown in fig. 3, the system includes a preliminary compensation module 201, a look-up table obtaining module 202 and an angle measurement module 203.
The preliminary compensation module 201 is configured to adjust a BCT value of the encoder to perform preliminary compensation on the magnetic encoder, so that an output value of the encoder meets a preset linearity requirement, and a specific compensation method is the same as that in embodiment 1 and is not described herein again.
The comparison table obtaining module 202 is configured to obtain a corresponding relationship between an angle value of the motor operation and an encoder value, and generate a comparison table between the angle value of the motor operation and an encoder measurement value according to the corresponding relationship. The specific correspondence obtaining method and the comparison table generating method are the same as those in embodiment 1, and are not described herein again.
The angle measurement module 203 is configured to obtain an encoder value corresponding to the motor at the current time, and search a comparison table of the preset motor operation angle value and the encoder measurement value for the motor angle value corresponding to the encoder value at the current time as an operation angle of the motor.
As shown in fig. 4, in the embodiment, a specific hardware structure diagram of an angle measurement system is provided, a communication system for testing a lower computer by calibrating a PC with an upper computer and a MCU is constructed, a linear interpolation algorithm of an encoder can be implemented on the upper computer, and finally an interpolated encoder value and an angle value (i.e., a joint angle value) of motor operation are issued to the lower computer and stored in Flash, a mechanical arm is powered on again, and the corresponding angle value of motor operation can be queried through the read encoder value, so that an initial joint angle of the motor after power-on can be obtained. The preliminary compensation module 201, the comparison table acquisition module 202 and the angle measurement module 203 are all arranged in an upper computer, as shown in fig. 6, a theoretical BCT value is calculated through simulation software in the upper computer, the lower computer is communicated with an encoder chip through an SPI (serial peripheral interface), and control signals are sent to the lower computer through the upper computer, so that the BCT value of the encoder is modified. After the BCT value is modified, the upper computer sends a command for starting the encoder linearity test to the lower computer, the lower computer runs a test program and uploads a difference value of the encoder values corresponding to the two stepping angles to the upper computer, the upper computer judges whether the difference value meets the compensation requirement, if the difference value meets the requirement, the modified BCT achieves the expected compensation effect, otherwise, the BCT value needs to be finely adjusted, the test is carried out again until a proper BCT value is found, and the expected compensation effect is achieved.
As shown in fig. 5, a step angle fixed in operation is adopted, for example, the step length of operation is 4, the motor angle corresponding to one step of operation is 0.09 degrees, the corresponding encoder values are read at the same time, then linear interpolation calibration is performed on the encoder values, and it is ensured that each encoder value has a corresponding motor angle value, so that one-to-one mapping of the encoder values and the angle values of the joint shafts is realized, finally, the mapped data is stored in Flash of the MCU lower computer, and the operation angle of the motor, that is, the joint angle, is obtained by means of table lookup.
As shown in fig. 7, in normal operation, after the encoder is linearly compensated by the preliminary compensation module 201, the mechanical arm is powered on, and a value of the encoder can be read at any time, so as to query a corresponding joint angle value in Flash and obtain the joint angle value of the mechanical arm after power-on.
The motor running angle value or the joint angle value measured by the measuring system is more accurate and intuitive, and one motor angle value corresponding to each encoder value is mainly used for improving the precision of the joint angle of the mechanical arm after power-on or drag teaching.
EXAMPLE III
This embodiment provides a joint angle measurement system, and this joint angle measurement system includes the motor running angle measurement system that embodiment 2 provided, can realize the accurate control to mechanical arm joint angle measurement through this system. The running angle of the output shaft of the motor is measured through the encoder, and the joint angle value of the mechanical arm is finally obtained and used for updating the initial angle of the mechanical arm after power-on or the joint angle after dragging teaching.
The present invention has been described in terms of specific examples, which are provided to aid understanding of the invention and are not intended to be limiting. For a person skilled in the art to which the invention pertains, several simple deductions, modifications or substitutions may be made according to the idea of the invention.
Claims (6)
1. A method for measuring the operation angle of a motor is characterized by comprising the following steps:
acquiring a magnetic encoder value corresponding to the motor at the current moment by adopting a magnetic encoder, and searching a motor angle value corresponding to the magnetic encoder value at the current moment from a preset comparison table of the motor operation angle value and a magnetic encoder measurement value to be used as the operation angle of the motor;
before obtaining the corresponding relation between the angle value of the stepping motor operation and the magnetic encoder value, the method further comprises the following steps: adjusting a BCT value of a magnetic encoder to perform preliminary compensation on the magnetic encoder, so that the output value of the magnetic encoder meets a preset linear requirement;
wherein, adjusting the BCT value of the magnetic encoder to perform preliminary compensation on the magnetic encoder so that the output value of the magnetic encoder meets a preset linearity requirement comprises:
BCT setting: calculating an initial BCT value of the magnetic encoder by a simulation method, and setting the BCT value of the magnetic encoder as the initial BCT value;
and a compensation judging step: acquiring a motor operation angle value when a magnetic encoder value is increased by one unit as a target angle value, controlling the motor to operate one target angle value every time in one period, acquiring a magnetic encoder value corresponding to the operation of one target angle value every time, sequentially subtracting the previous magnetic encoder value from the currently-acquired magnetic encoder value to obtain a plurality of difference values, judging whether the ratio of 1 in the plurality of difference values is greater than a preset value, if so, judging that the output value of the current magnetic encoder meets the preset linear requirement, and finishing primary compensation;
otherwise, increasing or decreasing the BCT value by a preset adjustment amount, and repeating the compensation judging step until the preliminary compensation is completed.
2. The method for measuring the running angle of the motor according to claim 1, before the step of using the magnetic encoder to obtain the magnetic encoder value corresponding to the motor at the current time, further comprising:
and acquiring a corresponding relation between the running angle value of the motor and the magnetic encoder value, and generating a comparison table of the running angle value of the motor and the measured value of the magnetic encoder according to the corresponding relation.
3. The method for measuring the operation angle of the motor according to claim 2, wherein the obtaining of the correspondence between the operation angle value of the motor and the magnetic encoder value and the generating of the comparison table of the operation angle value of the motor and the magnetic encoder measurement value according to the correspondence comprises:
and acquiring the running angle value of the motor when the value of the magnetic encoder is increased by one unit, taking the running angle change value of the motor and the change value corresponding to the magnetic encoder at the moment as the corresponding relation, and acquiring the running angle value of the motor corresponding to each magnetic encoder value according to the corresponding relation so as to acquire a comparison table of the running angle value of the motor and the measured value of the magnetic encoder.
4. An electric machine operation angle measurement system, comprising:
the angle measuring module is used for acquiring a magnetic encoder value corresponding to the motor at the current moment, and searching the motor angle value corresponding to the magnetic encoder value at the current moment from a preset comparison table of the motor operating angle value and the magnetic encoder measured value as the operating angle of the motor;
the primary compensation module is used for adjusting the BCT value of the magnetic encoder to perform primary compensation on the magnetic encoder, so that the output value of the magnetic encoder meets the preset linear requirement;
wherein, adjusting the BCT value of the magnetic encoder to perform preliminary compensation on the magnetic encoder so that the output value of the magnetic encoder meets a preset linearity requirement comprises:
BCT setting: calculating an initial BCT value of the magnetic encoder by a simulation method, and setting the BCT value of the magnetic encoder as the initial BCT value;
and a compensation judging step: acquiring a motor operation angle value when a magnetic encoder value is increased by one unit as a target angle value, controlling the motor to operate one target angle value every time in one period, acquiring a magnetic encoder value corresponding to the operation of one angle value every time, subtracting a previous magnetic encoder value from a currently-acquired magnetic encoder value to obtain a plurality of difference values in sequence, judging whether the ratio of 1 in the plurality of difference values is greater than a preset value, if so, judging that the output value of the current magnetic encoder meets a preset linear requirement, and finishing primary compensation;
otherwise, increasing or decreasing the BCT value by a preset adjustment amount, and repeating the compensation judging step until the preliminary compensation is completed.
5. The motor running angle measuring system according to claim 4, further comprising:
and the comparison table acquisition module is used for acquiring the corresponding relation between the running angle value of the motor and the magnetic encoder value and generating a comparison table of the running angle value of the motor and the measured value of the magnetic encoder according to the corresponding relation.
6. A joint angle measuring system comprising the motor operating angle measuring system according to any one of claims 4 or 5.
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