CN111854824A - Encoder calibration system and control method thereof - Google Patents
Encoder calibration system and control method thereof Download PDFInfo
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- CN111854824A CN111854824A CN202010873676.7A CN202010873676A CN111854824A CN 111854824 A CN111854824 A CN 111854824A CN 202010873676 A CN202010873676 A CN 202010873676A CN 111854824 A CN111854824 A CN 111854824A
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- 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
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Abstract
The embodiment of the invention provides an encoder calibration system and a control method thereof, relating to the field of encoder calibration. The method aims to solve the problem that the precision of the existing encoder calibration system needs to be improved. The encoder calibration system includes: the motor possesses the output shaft, treats that calibration encoder and standard encoder all are connected with the output shaft, treats that calibration encoder is used for exporting first rotational speed signal, and standard encoder is used for exporting the second rotational speed signal, and the controller is used for carrying out precision compensation for the first time to calibration encoder according to first rotational speed signal and second rotational speed signal. The control method of the encoder calibration system is executed by a controller. The running state of motor more can reflect more directly to the rotational speed, treats that calibration encoder and standard encoder all output speed signal, carries out the precision compensation through the rotational speed, and the compensation precision is higher, treats simultaneously that calibration encoder and standard encoder pass through a root axis and connect, and the running variable of motor is the same, improves the calibration precision of treating the calibration encoder.
Description
Technical Field
The invention relates to the field of encoder calibration, in particular to an encoder calibration system and a control method thereof.
Background
Servomotors have undoubtedly become the core actuators of automation devices. As servo system prices have decreased year by year, many servo motor manufacturers are under pressure in cost control. Particularly, the servo motor with high demand, low inertia and low power can be used, and if a battery type optical absolute value encoder is adopted, the cost of the encoder can even reach 1/2 of the cost of the motor.
To address the cost pressure, more and more servo manufacturers are trying to create their own magnetic encoders (hereinafter referred to as magnetic encoding) using the magnetic principle. The magnetic braid has the characteristics of strong shock and vibration resistance and corrosion and oil stain resistance. In addition, due to the simple structure and the higher tolerance for concentricity and axial bouncing than the optical principle, the manufacturing threshold of magnetic encoding is significantly reduced along with the development of hall and magnetoresistive sensors.
The existing magnetic encoding motor calibration system has multiple types of equipment and tools and complex structure, so that the precision is poor and needs to be improved.
Disclosure of Invention
Objects of the present invention include, for example, providing an encoder calibration system that ameliorates the problem of accuracy of existing encoder calibration systems that is to be improved.
The present invention also provides a control method of an encoder calibration system, which can improve the problem that the accuracy of the existing encoder calibration method needs to be improved.
Embodiments of the invention may be implemented as follows:
an embodiment of the present invention provides an encoder calibration system, including: the device comprises a motor, an encoder to be calibrated, a standard encoder and a controller; the motor, the encoder to be calibrated and the standard encoder are all communicated with the controller;
the motor is provided with an output shaft, one end of the output shaft is connected with the encoder to be calibrated, the other end of the output shaft is connected with the standard encoder, the encoder to be calibrated is used for outputting a first rotating speed signal representing the rotating speed of the motor to the controller, the standard encoder is used for outputting a second rotating speed signal representing the rotating speed of the motor to the controller, and the controller is used for performing first precision compensation on the calibration encoder according to the first rotating speed signal and the second rotating speed signal.
In addition, the encoder calibration system provided by the embodiment of the invention can also have the following additional technical characteristics:
optionally: the encoder calibration system further comprises a heating device, the heating device is used for heating the motor, the encoder to be calibrated is used for detecting the rotating speed of the motor in a heating state so as to obtain a third rotating speed signal, and the standard encoder is used for detecting the rotating speed of the motor in the heating state so as to obtain a fourth rotating speed signal; and the controller is used for performing secondary precision compensation on the calibration encoder according to the third rotating speed signal and the fourth rotating speed signal.
Optionally: the encoder to be calibrated and the standard encoder are arranged at two opposite ends of the motor, the motor is arranged at one end of the encoder to be calibrated to form a feedback end, and the heating device is used for heating the feedback end.
Optionally: the heating device is a searchlight.
Optionally: the encoder calibration system further includes a servo driver in communication with the controller, the motor in communication with the servo driver.
Optionally: the encoder to be calibrated and the standard encoder are both communicated with the servo driver; the controller is used for outputting a precision compensation signal obtained according to the first rotating speed signal and the second rotating speed signal to the servo driver, and the servo driver is used for performing precision compensation on the calibration encoder according to the precision compensation signal.
The embodiment of the invention also provides a control method of the encoder calibration system, which comprises the following steps: receiving a first rotating speed signal which is output by an encoder to be calibrated and represents the rotating speed of the motor; receiving a second rotating speed signal which is output by a standard encoder and is used for representing the rotating speed of the motor; performing first precision compensation on the encoder to be calibrated according to the first rotating speed signal and the second rotating speed signal; and the encoder to be calibrated and the standard encoder are in transmission connection with an output shaft of the same motor at the same time.
Optionally: the receiving of the first rotation speed signal which is output by the encoder to be calibrated and represents the rotation speed of the motor comprises receiving of a fifth rotation speed signal which is output by the encoder to be calibrated and represents the rotation speed of the motor in a first preset rotation speed state and receiving of a sixth rotation speed signal which is output by the encoder to be calibrated and represents the rotation speed of the motor in a second preset rotation speed state;
the receiving of the second rotation speed signal which is output by the standard encoder and represents the rotation speed of the motor comprises receiving of a seventh rotation speed signal which is output by the standard encoder and represents the rotation speed of the motor in the first preset rotation speed state and receiving of an eighth rotation speed signal which is output by the standard encoder and represents the rotation speed of the motor in the second preset rotation speed state;
the step of performing the first precision compensation on the encoder to be calibrated according to the first rotation speed signal and the second rotation speed signal comprises:
and performing the first precision compensation on the encoder to be calibrated according to the fifth rotating speed signal, the sixth rotating speed signal, the seventh rotating speed signal and the eighth rotating speed signal.
Optionally: after the step of performing the first precision compensation on the encoder to be calibrated according to the first rotation speed signal and the second rotation speed signal, the method includes:
receiving a third rotating speed signal which is output by the encoder to be calibrated and represents the rotating speed of the motor in a heating state;
receiving a fourth rotating speed signal which is output by the standard encoder and represents the rotating speed of the motor in a heating state;
and performing secondary precision compensation on the encoder to be calibrated according to the third rotating speed signal and the fourth rotating speed signal.
Optionally: after the step of performing the first precision compensation on the encoder to be calibrated according to the first rotation speed signal and the second rotation speed signal, and before the step of receiving a third rotation speed signal which is output by the encoder to be calibrated and represents the rotation speed of the motor in a heating state, the method further includes:
receiving a ninth rotating speed signal which is output by the encoder to be calibrated after the first precision compensation and represents the rotating speed of the motor in a third preset rotating speed state, and receiving a tenth rotating speed signal which is output by the standard encoder after the first precision compensation and represents the rotating speed of the motor in the third preset rotating speed state;
the step of performing the second precision compensation on the calibration encoder according to the third rotation speed signal and the fourth rotation speed signal includes:
and performing the second precision compensation on the encoder to be calibrated according to the ninth rotation speed signal, the tenth rotation speed signal, the third rotation speed signal and the fourth rotation speed signal.
The beneficial effects of the encoder calibration system and the control method thereof of the embodiment of the invention include, for example:
encoder calibration system, the running state of motor more can be embodied more directly to the rotational speed, treats that calibration encoder and standard encoder all output speed signal, carries out the precision compensation through the rotational speed, simplifies the compensation process, and the compensation precision is higher. Meanwhile, the encoder to be calibrated is connected with the standard encoder through a shaft, the running variables of the motor are the same, and the calibration precision of the encoder to be calibrated is improved.
The control method of the encoder calibration system receives the rotating speed signals output by the encoder to be calibrated and the standard encoder, then carries out precision compensation on the encoder to be calibrated, and can improve the compensation precision by adopting the rotating speed as a precision compensation parameter.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic diagram of an encoder calibration system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a motor, an encoder to be calibrated, and a standard encoder according to an embodiment of the present invention.
Icon: 10-encoder calibration system; 100-a motor; 110-a housing; 120-an output shaft; 200-an encoder to be calibrated; 300-standard encoder; 400-a controller; 500-a power supply; 600-searchlight; 700-a servo driver; 710-ethernet interface; 720-power interface; 730-a power supply interface; 740 — a first signal interface; 750-a second signal interface; 800-calibrating the support.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. indicate an orientation or a positional relationship based on that shown in the drawings or that the product of the present invention is used as it is, this is only for convenience of description and simplification of the description, and it does not indicate or imply that the device or the element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.
Furthermore, the appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
The encoder calibration system 10 provided in the present embodiment is described in detail below with reference to fig. 1 to 2.
Referring to fig. 1 and fig. 2, the present embodiment provides an encoder calibration system 10, including: the calibration device comprises a motor 100, an encoder 200 to be calibrated, a standard encoder 300 and a controller 400; the motor 100, the encoder 200 to be calibrated and the standard encoder 300 are all in communication with the controller 400; the motor 100 is provided with an output shaft 120, one end of the output shaft 120 is connected with an encoder 200 to be calibrated, the other end of the output shaft 120 is connected with a standard encoder 300, the encoder 200 to be calibrated is used for outputting a first rotating speed signal representing the rotating speed of the motor 100 to the controller 400, the standard encoder 300 is used for outputting a second rotating speed signal representing the rotating speed of the motor 100 to the controller 400, and the controller 400 is used for performing first precision compensation on the calibration encoder according to the first rotating speed signal and the second rotating speed signal.
It is to be noted that; "communication" includes both wireless and wired connections. In the present embodiment, both a wireless connection and a wired connection are possible.
The controller 400 controls the motor 100 to rotate, the to-be-calibrated encoder 200 and the standard encoder 300 simultaneously detect the rotation speed of the motor 100 to obtain a first rotation speed signal and a second rotation speed signal respectively, and send the first rotation speed signal and the second rotation speed signal to the controller 400, after the controller 400 receives the first rotation speed signal and the second rotation speed signal, according to a calibration program segment, a calibration parameter after comparison is obtained, then the to-be-calibrated encoder 200 is adjusted, and the first precision compensation of the to-be-calibrated encoder 200 is achieved.
After the motor 100 rotates, the encoder 200 to be calibrated and the standard encoder 300 are directly detected to obtain the rotation speed signal of the motor 100, the rotation speed can more directly reflect the operation state of the motor 100, the controller 400 can more directly compensate after receiving the rotation speed signal, the compensation process is simplified, and therefore the compensation precision can be improved.
The encoder 200 to be calibrated and the standard encoder 300 are both connected with the output shaft 120, and when the motor 100 rotates, the operation and variables of the motor 100 are the same, so that the obtained compensation value can more directly represent the value to be compensated of the encoder 200 to be calibrated, and the compensation precision is improved.
It should be noted that: the first rotation speed signal includes a rotation speed signal obtained by the motor 100 rotating in a preset rotation speed state and the encoder 200 to be calibrated through testing, and also includes a rotation speed signal obtained by the motor 100 rotating in different preset rotation speed states and the encoder 200 to be calibrated through testing. Specifically, several sets of data are selected for detection as required. For example, the first rotation speed signal includes a fifth rotation speed signal of the motor 100 in a first preset rotation speed state and a sixth rotation speed signal of the motor 100 in a second preset rotation speed state.
Similarly, the second rotation speed signal includes the rotation speed signal obtained by the test of the standard encoder 300 when the motor 100 rotates in a preset rotation speed state, and also includes the rotation speed signal obtained by the test of the standard encoder 300 when the motor 100 rotates in a different preset rotation speed state. The encoder 200 to be calibrated detects several sets of data, the standard encoder 300 correspondingly detects several sets of data, and then the controller 400 performs precision compensation on the encoder 200 to be calibrated according to the several sets of data. For example, the second rotation speed signal includes a seventh rotation speed signal obtained by the standard encoder 300 when the motor 100 rotates in the first preset rotation speed state, and an eighth rotation speed signal obtained by the standard encoder 300 when the motor 100 rotates in the second preset rotation speed state, and the controller 400 calibrates the encoder 200 to be calibrated according to the fifth rotation speed signal, the sixth rotation speed signal, the seventh rotation speed signal, and the eighth rotation speed signal.
With continued reference to fig. 1, in this embodiment, the encoder calibration system 10 further includes a servo driver 700, the servo driver 700 is in communication with the controller 400, and the motor 100 is in communication with the servo driver 700. The controller 400 sends a rotation command to the servo driver 700, and the servo driver 700 controls the motor 100 to rotate at a predetermined speed.
With continued reference to fig. 1, in the present embodiment, the encoder 200 to be calibrated and the standard encoder 300 are both in communication with the servo driver 700; the controller 400 is configured to output a precision compensation signal obtained according to the first rotation speed signal and the second rotation speed signal to the servo driver 700, and the servo driver 700 is configured to perform precision compensation on the calibration encoder according to the precision compensation signal. After obtaining the precision compensation parameter according to the first rotation speed signal and the second rotation speed signal, the controller 400 writes the precision compensation parameter into the encoder 200 to be calibrated through the servo driver 700.
With continued reference to fig. 1, in the present embodiment, the encoder calibration system 10 further includes a power supply 500, and the power supply 500 is electrically connected to the servo driver 700. Specifically, the servo driver 700 is provided with a power interface 720 and a power supply interface 730, the power supply 500 is electrically connected to the power interface 720, and the power supply interface 730 is electrically connected to the motor 100 to supply power to the motor 100.
Specifically, with reference to fig. 1, the servo driver 700 is provided with an ethernet interface 710, and the controller 400 is electrically connected to the ethernet interface 710 for signal interaction in a wired manner. The servo driver 700 is further provided with a first signal interface 740 and a second signal interface 750, the first signal interface 740 is electrically connected with the encoder 200 to be calibrated, and the encoder 200 to be calibrated and the servo driver 700 realize information interaction through the first signal interface 740; the second signal interface 750 is electrically connected with the standard encoder 300, and the standard encoder 300 and the servo driver 700 realize information interaction through the second signal interface 750.
Referring to fig. 2, in the present embodiment, the motor 100 includes a housing 110, an output shaft 120 is mounted on the housing 110, and an encoder 200 to be calibrated is mounted in the housing 110, wherein one end of the output shaft 120 is located inside the housing 110 and connected to the encoder 200 to be calibrated, and the other end of the output shaft 120 is located outside the housing 110 and connected to a standard encoder 300.
The encoder 200 to be calibrated is disposed in the housing 110, and is integrated with the motor 100 to form the magnetic encoder motor 100. After the calibration of the encoder 200 is completed, it can be put into use. When the calibration is performed, the standard encoder 300 is connected to the end of the output shaft 120 extending out of the housing 110, so as to be coaxially connected to the encoder 200 to be calibrated.
With continued reference to fig. 1 and fig. 2, in the present embodiment, the encoder calibration system 10 further includes a calibration bracket 800, the motor 100 is disposed on the calibration bracket 800, and the output shaft 120 is disposed in a vertical direction. Helping to reduce overall volume.
With continued reference to FIG. 1, the encoder 200 to be calibrated is positioned above the calibration stand 800 and the standard encoder 300 is positioned below the calibration stand 800. The standard encoder 300 is located below the encoder 200 to be calibrated, which facilitates the installation and removal of the standard encoder 300.
Referring to fig. 1 again, in this embodiment, the encoder calibration system 10 further includes a heating device, the heating device is configured to heat the motor 100, the encoder 200 to be calibrated is configured to detect a rotation speed of the motor 100 in a heating state to obtain a third rotation speed signal, and the standard encoder 300 is configured to detect a rotation speed of the motor 100 in a heating state to obtain a fourth rotation speed signal; the controller 400 is configured to perform a second accuracy compensation on the calibration encoder according to the third rotation speed signal and the fourth rotation speed signal.
The main influencing factors of the magnetic encoding motor 100 are speed and temperature, and after the first precision compensation is finished, the temperature environment factor is increased, and the encoder 200 to be calibrated is calibrated again.
Specifically, after the first calibration is completed, the motor 100 is controlled to rotate in a third preset rotation speed state, the encoder 200 to be calibrated obtains a ninth rotation speed signal, the standard encoder 300 obtains a tenth rotation speed signal, and the controller 400 performs second precision compensation on the encoder 200 to be calibrated according to the ninth rotation speed signal, the tenth rotation speed signal, the third rotation speed signal and the fourth rotation speed signal.
With reference to fig. 1, in the present embodiment, the encoder 200 to be calibrated and the standard encoder 300 are disposed at two opposite ends of the motor 100, one end of the motor 100 where the encoder 200 to be calibrated is disposed forms a feedback end, and the heating device is configured to heat the feedback end. Specifically, the heating device is a searchlight 600.
Continuing to refer to fig. 1, zero adjustment is required before precision compensation, and specifically, the zero adjustment is performed by rotating the motor 100 to adjust the standard encoder 300 to a zero position, where the position corresponding to the encoder 200 to be calibrated is also the zero position, and writing zero parameters into the encoder 200 to be calibrated and the standard encoder 300 through the servo driver 700 to implement zero adjustment. After zero setting, precision compensation is carried out.
The principle of the encoder calibration system 10 provided by the present embodiment includes: after the servo driver 700 is connected to the power supply 500, the controller 400 sends a command to control the servo driver 700 to allow the motor 100 to start to operate at a first preset rotation speed, and after the operation is finished, the motor starts to operate at a second preset rotation speed. After the second preset rotation speed is finished, the controller 400 collates the data of the encoder receipt, and compensates the difference between the encoder 200 to be calibrated and the standard encoder 300 into the encoder 200 to be calibrated based on the parameters of the standard encoder 300. Meanwhile, the influence difference of the temperature on the encoder is also compensated together. And running again to check and confirm that the error difference is correct. This completes the zeroing calibration of the encoder 200 to be calibrated. In this embodiment, the encoder 200 to be calibrated is a magnetic encoder.
The present embodiment provides an encoder calibration system 10 with at least the following advantages:
the encoder 200 to be calibrated and the standard encoder 300 both output rotating speed signals, precision compensation is performed through the rotating speed, the compensation process is simplified, and the compensation precision is higher.
The encoder 200 to be calibrated is connected with the standard encoder 300 through a shaft, and the running variables of the motor 100 are the same, so that the calibration precision of the encoder 200 to be calibrated is improved.
The encoder calibration system 10 is simple in structure and can achieve zeroing and calibration.
The motor 100 is arranged on the calibration bracket 800, the encoder 200 to be calibrated is arranged in the shell 110, and the standard encoder 300 is simply and quickly assembled.
An embodiment of the present invention further provides a control method of an encoder calibration system 10, including: receiving a first rotation speed signal which is output by the encoder 200 to be calibrated and represents the rotation speed of the motor 100; receiving a second rotation speed signal representing the rotation speed of the motor 100 output from the standard encoder 300; performing first precision compensation on the encoder 200 to be calibrated according to the first rotating speed signal and the second rotating speed signal; the encoder 200 to be calibrated and the standard encoder 300 are simultaneously in transmission connection with the output shaft 120 of the same motor 100.
Further, receiving the first rotation speed signal indicating the rotation speed of the motor 100 output by the encoder 200 to be calibrated includes receiving a fifth rotation speed signal indicating the rotation speed of the motor 100 in the first preset rotation speed state output by the encoder 200 to be calibrated, and receiving a sixth rotation speed signal indicating the rotation speed of the motor 100 in the second preset rotation speed state output by the encoder 200 to be calibrated; receiving the second rotation speed signal representing the rotation speed of the motor 100 output by the standard encoder 300 comprises receiving a seventh rotation speed signal representing the rotation speed of the motor 100 in the first preset rotation speed state output by the standard encoder 300 and receiving an eighth rotation speed signal representing the rotation speed of the motor 100 in the second preset rotation speed state output by the standard encoder 300; the step of performing the first precision compensation on the encoder 200 to be calibrated according to the first rotation speed signal and the second rotation speed signal includes: and performing first precision compensation on the encoder 200 to be calibrated according to the fifth rotation speed signal, the sixth rotation speed signal, the seventh rotation speed signal and the eighth rotation speed signal.
The rotating speed signals are collected for several times, and according to actual requirements, the more the collected groups are, the more accurate the precision compensation is.
After adding the temperature parameter, in this embodiment, after the step of performing the first precision compensation on the encoder 200 to be calibrated according to the first rotation speed signal and the second rotation speed signal, the method includes: receiving a third rotating speed signal which is output by the encoder 200 to be calibrated and represents the rotating speed of the motor 100 in the heating state; receiving a fourth rotating speed signal which is output by the standard encoder 300 and represents the rotating speed of the motor 100 in the heating state; and performing second precision compensation on the encoder 200 to be calibrated according to the third rotating speed signal and the fourth rotating speed signal.
Further, after the step of performing the first precision compensation on the encoder 200 to be calibrated according to the first rotation speed signal and the second rotation speed signal, and before the step of receiving a third rotation speed signal, which is output by the encoder 200 to be calibrated and represents the rotation speed of the motor 100 in the heating state, the method further includes: receiving a ninth rotating speed signal which is output by the encoder 200 to be calibrated after the first precision compensation and represents the rotating speed of the motor 100 in the third preset rotating speed state, and receiving a tenth rotating speed signal which is output by the standard encoder 300 after the first precision compensation and represents the rotating speed of the motor 100 in the third preset rotating speed state; the step of performing the second precision compensation on the calibration encoder according to the third rotation speed signal and the fourth rotation speed signal comprises: and performing second precision compensation on the encoder 200 to be calibrated according to the ninth rotation speed signal, the tenth rotation speed signal, the third rotation speed signal and the fourth rotation speed signal.
And the first precision compensation is superposed with the rotating speed added with the temperature parameter, so that the second precision compensation is realized, and the calibration precision is higher.
In this embodiment, the encoder calibration method includes the following steps:
step 1; after the servo driver 700 is connected to the power supply 500, the controller 400 controls the driver to write parameters and zero for the calibration encoder and the encoder 200 to be calibrated.
Step 2: the controller 400 instructs the servo driver 700 to control the motor 100 to start operating at 2/3 rated speed, and when the motor 100 is operating, the encoder 200 to be calibrated and the standard encoder 300 respectively obtain the rotating speed of the motor 100 to be calibrated, and when the rotating speed is stable, two speeds V1 and V2 are obtained.
And step 3: similar to step 2, the motor 100 is again operated at the rated speed. After the operation is finished, the controller 400 reaches 2 rotating speeds V3 and V4 detected by the encoder 200 to be calibrated and the standard encoder 300. The 4 rotation speed values are transmitted to the controller 400, and the controller 400 finds out a rule through a rotation speed formula to obtain a new first parameter of the motor 100;
and 4, step 4: the newly obtained first parameters are written into the encoder 200 to be calibrated and the standard encoder 300. Operating the motor 100 again at the rated rotating speed, and measuring the rotating speeds of the encoder 200 to be calibrated and the standard encoder 300 to be V5 and V6;
and 5: and (3) turning on the infrared searchlight 600, heating the feedback end of the tested motor 100, irradiating for 5 seconds, and then operating at the rated rotating speed to obtain the rotating speeds of the encoder 200 to be calibrated and the standard encoder 300 as V7 and V8. The 4 rotation speed values are automatically input into the controller 400, and the controller 400 finds out a rule through a temperature formula to obtain a new second parameter of the motor 100;
step 6: and writing the second parameter of the motor 100 into the encoder 200 to be calibrated and the standard encoder 300 through the servo driver 700, running and checking at a rated rotating speed, and finally determining that the error difference of the rotating speed is within 1 percent, namely the zero-setting calibration magnetic steel of the encoder 200 to be calibrated.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. An encoder calibration system, comprising:
the calibration device comprises a motor (100), an encoder (200) to be calibrated, a standard encoder (300) and a controller (400);
the motor (100), the encoder to be calibrated (200) and the standard encoder (300) are all in communication with the controller (400);
the motor (100) is provided with an output shaft (120), one end of the output shaft (120) is connected with the encoder (200) to be calibrated, the other end of the output shaft (120) is connected with the standard encoder (300), the encoder (200) to be calibrated is used for outputting a first rotating speed signal representing the rotating speed of the motor (100) to the controller (400), the standard encoder (300) is used for outputting a second rotating speed signal representing the rotating speed of the motor (100) to the controller (400), and the controller (400) is used for performing first precision compensation on the calibration encoder according to the first rotating speed signal and the second rotating speed signal.
2. The encoder calibration system of claim 1, wherein:
the encoder calibration system further comprises a heating device, the heating device is used for heating the motor (100), the encoder (200) to be calibrated is used for detecting the rotating speed of the motor (100) in the heating state so as to obtain a third rotating speed signal, and the standard encoder (300) is used for detecting the rotating speed of the motor (100) in the heating state so as to obtain a fourth rotating speed signal; the controller (400) is used for performing second precision compensation on the calibration encoder according to the third rotating speed signal and the fourth rotating speed signal.
3. The encoder calibration system of claim 2, wherein:
the encoder (200) to be calibrated and the standard encoder (300) are arranged at two opposite ends of the motor (100), one end of the motor (100) where the encoder (200) to be calibrated is arranged forms a feedback end, and the heating device is used for heating the feedback end.
4. The encoder calibration system of claim 3, wherein:
the heating device is a searchlight (600).
5. The encoder calibration system of claim 1, wherein:
the encoder calibration system further includes a servo drive (700), the servo drive (700) in communication with the controller (400), the motor (100) in communication with the servo drive (700).
6. The encoder calibration system of claim 5, wherein:
the encoder to be calibrated (200) and the standard encoder (300) are both in communication with the servo driver (700); the controller (400) is configured to output a precision compensation signal obtained according to the first rotation speed signal and the second rotation speed signal to the servo driver (700), and the servo driver (700) is configured to perform precision compensation on the calibration encoder according to the precision compensation signal.
7. A method of controlling an encoder calibration system, comprising:
receiving a first speed signal from an encoder (200) to be calibrated, wherein the first speed signal is indicative of the speed of the motor (100);
receiving a second speed signal from a standard encoder (300) output indicative of a speed of the motor (100);
performing first precision compensation on the encoder (200) to be calibrated according to the first rotating speed signal and the second rotating speed signal;
the encoder (200) to be calibrated and the standard encoder (300) are simultaneously in transmission connection with an output shaft (120) of the same motor (100).
8. The method of controlling an encoder calibration system according to claim 7, wherein:
the receiving of the first rotation speed signal which is output by the encoder (200) to be calibrated and represents the rotation speed of the motor (100) comprises receiving of a fifth rotation speed signal which is output by the encoder (200) to be calibrated and represents the rotation speed of the motor (100) in a first preset rotation speed state, and receiving of a sixth rotation speed signal which is output by the encoder (200) to be calibrated and represents the rotation speed of the motor (100) in a second preset rotation speed state;
the receiving of the second rotation speed signal representing the rotation speed of the motor (100) output by the standard encoder (300) comprises receiving a seventh rotation speed signal representing the rotation speed of the motor (100) in the first preset rotation speed state output by the standard encoder (300) and receiving an eighth rotation speed signal representing the rotation speed of the motor (100) in the second preset rotation speed state output by the standard encoder (300);
the step of performing the first precision compensation on the encoder (200) to be calibrated according to the first rotating speed signal and the second rotating speed signal comprises the following steps:
and performing the first precision compensation on the encoder (200) to be calibrated according to the fifth rotating speed signal, the sixth rotating speed signal, the seventh rotating speed signal and the eighth rotating speed signal.
9. The method of controlling an encoder calibration system according to claim 7, wherein:
after the step of performing the first precision compensation on the encoder (200) to be calibrated according to the first rotation speed signal and the second rotation speed signal, the method comprises the following steps:
receiving a third rotating speed signal which is output by the encoder (200) to be calibrated and is used for representing the rotating speed of the motor (100) in a heating state;
receiving a fourth speed signal from the standard encoder (300) output indicative of the speed of the motor (100) in a heated state;
and performing second precision compensation on the encoder (200) to be calibrated according to the third rotating speed signal and the fourth rotating speed signal.
10. The method of controlling an encoder calibration system according to claim 9, wherein:
after the step of performing the first precision compensation on the encoder (200) to be calibrated according to the first rotation speed signal and the second rotation speed signal, before the step of receiving a third rotation speed signal which is output by the encoder (200) to be calibrated and is indicative of the rotation speed of the motor (100) in a heating state, the method further comprises:
receiving a ninth rotating speed signal which is output by the encoder (200) to be calibrated after the first precision compensation and represents the rotating speed of the motor (100) in a third preset rotating speed state, and receiving a tenth rotating speed signal which is output by the standard encoder (300) after the first precision compensation and represents the rotating speed of the motor (100) in the third preset rotating speed state;
the step of performing the second precision compensation on the calibration encoder according to the third rotation speed signal and the fourth rotation speed signal includes:
and performing the second precision compensation on the encoder (200) to be calibrated according to the ninth rotation speed signal, the tenth rotation speed signal, the third rotation speed signal and the fourth rotation speed signal.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112964289A (en) * | 2021-01-27 | 2021-06-15 | 唐山钢铁集团有限责任公司 | Calibration device and method for oxygen lance position detection encoder |
| CN113375708A (en) * | 2021-07-21 | 2021-09-10 | 哈尔滨理工大学 | Double-shaft high-resolution magnetoelectric encoder calibration process and device |
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- 2020-08-26 CN CN202010873676.7A patent/CN111854824A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112964289A (en) * | 2021-01-27 | 2021-06-15 | 唐山钢铁集团有限责任公司 | Calibration device and method for oxygen lance position detection encoder |
| CN113375708A (en) * | 2021-07-21 | 2021-09-10 | 哈尔滨理工大学 | Double-shaft high-resolution magnetoelectric encoder calibration process and device |
| CN113375708B (en) * | 2021-07-21 | 2022-11-15 | 哈尔滨理工大学 | Double-shaft high-resolution magnetoelectric encoder calibration process and device |
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