CN112556739A - Absolute position reference point calibration method and device of rotary encoder - Google Patents
Absolute position reference point calibration method and device of rotary encoder Download PDFInfo
- Publication number
- CN112556739A CN112556739A CN202011253824.1A CN202011253824A CN112556739A CN 112556739 A CN112556739 A CN 112556739A CN 202011253824 A CN202011253824 A CN 202011253824A CN 112556739 A CN112556739 A CN 112556739A
- Authority
- CN
- China
- Prior art keywords
- absolute position
- position information
- rotary encoder
- zero
- real
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Abstract
The application is applicable to the technical field of electrical control, and provides a method and a device for calibrating an absolute position reference point of a rotary encoder, wherein the method comprises the following steps: detecting whether a first real-time rotating speed of a motor provided with a rotary encoder is zero; when the detected first real-time rotating speed is zero, respectively acquiring first absolute position information and second absolute position information corresponding to the rotary encoder before and after a preset time interval; calibrating an absolute position reference point of the rotary encoder based on the first absolute position information if the first absolute position information and the second absolute position information are the same. Therefore, signal interference in the motor running environment can be effectively inhibited, and the reliability and the accuracy of the calibration result are guaranteed.
Description
Technical Field
The application belongs to the technical field of electrical control, and particularly relates to a method and a device for calibrating an absolute position reference point of a rotary encoder.
Background
Accurate estimation of linear position and rotation angle is an important task in industrial automation and similar applications, while rotary encoders are widely used in the field of motor control. A rotary encoder (also referred to as a code wheel) is an electromechanical device that converts a rotational position or a rotational amount into an analog or digital signal, and is mainly applied to fields requiring accurate rotational position and speed feedback, such as scientific research, industrial control, robotics, and the like.
At present, a rotary encoder feeds back a rotation variation of a rotating shaft and calculates rotation direction, position and angle information through output of 2 orthogonal signals, phase a and phase B, which have a phase difference of 90 °. In order to feed back the absolute position of the rotating shaft of the rotary encoder, an absolute position information output can be added to the position control system, for example, an absolute position signal is generated corresponding to each rotation of the rotating shaft, so as to obtain the corresponding absolute position of the rotating shaft.
However, in the working environment of an actual rotary encoder, the absolute position signal fluctuates due to interference (e.g., strong electromagnetic interference) of the motor operating environment, which affects the motor control performance.
In view of the above problems, no better solution is available in the industry.
Disclosure of Invention
In view of this, embodiments of the present application provide a method and an apparatus for calibrating an absolute position reference point of a rotary encoder, so as to at least solve the problem in the prior art that an absolute position signal is not accurate enough to cause a reduction in the control performance of a motor.
A first aspect of an embodiment of the present application provides a method for calibrating an absolute position reference point of a rotary encoder, including: detecting whether a first real-time rotating speed of a motor provided with a rotary encoder is zero; when the detected first real-time rotating speed is zero, respectively acquiring first absolute position information and second absolute position information corresponding to the rotary encoder before and after a preset time interval; calibrating an absolute position reference point of the rotary encoder based on the first absolute position information if the first absolute position information and the second absolute position information are the same.
A second aspect of embodiments of the present application provides an absolute position reference point calibration apparatus for a rotary encoder, including: a motor zero-rotation-speed detection unit configured to detect whether a first real-time rotation speed of a motor provided with a rotary encoder is zero; an absolute position acquisition unit configured to acquire first absolute position information and second absolute position information corresponding to the rotary encoder before and after a preset time interval, respectively, when the detected first real-time rotation speed is zero; an absolute position reference point calibration unit configured to calibrate an absolute position reference point of the rotary encoder based on the first absolute position information if the first absolute position information and the second absolute position information are the same.
A third aspect of embodiments of the present application provides a mobile terminal, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method when executing the computer program.
A fourth aspect of embodiments of the present application provides a computer-readable storage medium, in which a computer program is stored, which, when executed by a processor, implements the steps of the method as described above.
A fifth aspect of embodiments of the present application provides a computer program product, which, when run on a mobile terminal, causes the mobile terminal to implement the steps of the method as described above.
Compared with the prior art, the embodiment of the application has the advantages that:
through this application embodiment, the controller can detect the real-time slew velocity of motor to when the motor is static, the absolute position information of rotary encoder is acquireed many times at interval, and then when absolute position information is the same, can utilize absolute position information to calibrate absolute position reference point. Therefore, when the motor is static, the calibration operation of the absolute position reference point is carried out, and the absolute position information obtained at different time points is referred, so that the signal interference in the motor running environment can be effectively inhibited, and the reliability and the accuracy of the absolute position calibration result can be guaranteed.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 shows a flow chart of an example of an absolute position reference point calibration method of a rotary encoder according to an embodiment of the present application;
FIG. 2 illustrates a flow chart of an example of detecting whether a first real-time rotational speed is zero according to an embodiment of the present application;
FIG. 3 shows a flow chart of an example of an absolute position reference point calibration method of a rotary encoder according to an embodiment of the present application;
FIG. 4 is a block diagram illustrating an example of an absolute position reference point calibration apparatus of a rotary encoder according to an embodiment of the present application;
fig. 5 is a schematic diagram of an example of a mobile terminal according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
In order to explain the technical solution described in the present application, the following description will be given by way of specific examples.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification of the present application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to a determination" or "in response to a detection". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
In particular implementations, the mobile terminals described in embodiments of the present application include, but are not limited to, other portable devices such as mobile phones, laptop computers, or tablet computers having touch sensitive surfaces (e.g., touch screen displays and/or touch pads). It should also be understood that in some embodiments, the devices described above are not portable communication devices, but are computers having touch-sensitive surfaces (e.g., touch screen displays).
In the discussion that follows, a mobile terminal that includes a display and a touch-sensitive surface is described. However, it should be understood that the mobile terminal may include one or more other physical user interface devices such as a physical keyboard, mouse, and/or joystick.
Various applications that may be executed on the mobile terminal may use at least one common physical user interface device, such as a touch-sensitive surface. One or more functions of the touch-sensitive surface and corresponding information displayed on the terminal can be adjusted and/or changed between applications and/or within respective applications. In this way, a common physical architecture (e.g., touch-sensitive surface) of the terminal can support various applications with user interfaces that are intuitive and transparent to the user.
It should be noted that, in the related art, in order to reduce the fluctuation of the absolute position signal, many manufacturers design to add a hardware processing circuit in the frequency converter circuit to filter out the high frequency interference. Thus, an increase in manufacturing cost is caused, and signal transmission performance may be affected, resulting in signal delay.
Fig. 1 shows a flowchart of an example of an absolute position reference point calibration method of a rotary encoder according to an embodiment of the present application. Regarding the execution body of the method of the embodiment of the present application, it may be various types of processors or controllers, such as a motor controller, and the like.
As shown in fig. 1, in step 110, it is detected whether a first real-time rotation speed of a motor provided with a rotary encoder is zero. Here, the real-time rotation speed of the rotary encoder may be obtained through various known or potential rotation speed detection methods, or whether the motor is in a stationary state may be detected, which should not be limited herein.
If the detection result in step 110 indicates that the first real-time rotation speed is zero, it is possible to jump to step 120. If the detection result in step 110 indicates that the first real-time rotation speed is not zero, the process may jump back to step 110 to continuously monitor the rotation speed zero point of the motor.
In step 120, first absolute position information and second absolute position information corresponding to the rotary encoder are respectively obtained before and after a preset time interval. Here, the time interval may be arbitrary or specific, and may be, for example, longer than a time corresponding to some setting scenarios (for example, a user operating the device).
In some embodiments, the time interval may be greater than the actuation time of the contactor of the motor, for example the actuation time of the contactor is 0.5 seconds, while the time interval may be 1 second. It should be noted that when the contactor of the motor is operated by a user, the electromagnetic environment of the motor is changed drastically, and by setting a time interval greater than the action time, the interference caused by the action of the contactor can be effectively avoided, and the accuracy of the calibration result is ensured.
Next, the controller may detect whether the first absolute position information is the same as the second absolute position information. If so, it may jump to step 130; if not, it may jump to step 110 to restart the calibration process verification process.
In step 130, an absolute position reference point of the rotary encoder is calibrated based on the first absolute position information. Here, the absolute position reference point may indicate an absolute position corresponding to a zero point (initial state), and for example, the first absolute position information may be set as absolute position information corresponding to a zero point of the rotary encoder.
It should be noted that during operation of the motor, electromagnetic interference may exist, causing the position of the absolute position reference point of the rotary encoder to easily float. In addition, when the motor is in a stationary state, the electromagnetic environment may be changed by a human operation of the motor, which may also affect the accuracy of the detection result of the absolute position information of the rotary encoder.
Through this application embodiment, when the motor is in quiescent condition, the absolute position information of rotary encoder is gathered many times at interval to just carry out subsequent calibration operation to the absolute position reference point when absolute position information is the same, the accuracy of the absolute position reference point that can ensure.
In some examples of embodiments of the present application, after step 130, the method further comprises, continuously monitoring a second real-time rotational speed of the rotary encoder; and stopping acquiring the absolute position information corresponding to the rotary encoder until the second real-time rotating speed is not zero. Therefore, after the ideal value of the absolute position reference point is acquired, sampling can be stopped until the motor formally starts to operate, and the influence of external continuous interference is avoided.
Fig. 2 shows a flowchart of an example of detecting whether the first real-time rotation speed is zero according to an embodiment of the application.
As shown in fig. 2, in step 210, the controller detects a quadrature velocity signal of the rotary encoder.
In step 220, the controller determines whether the first real-time rotational speed of the motor is zero based on the detected quadrature speed signal. Illustratively, the output signal of the rotary encoder may include A, B quadrature speed signal, the controller may detect A, B quadrature speed signal and calculate corresponding rotation speed accordingly, real-time rotation speed of the motor may be detected quickly, and no additional related hardware is required, so that speed detection cost may be reduced.
In some examples of the embodiments of the present application, when the detected first real-time rotational speed is zero, the absolute position information of a corresponding preset number of sampling points is continuously sampled to determine the corresponding first absolute position information, and for example, an average value of the absolute position information of the plurality of sampling points may be determined as the corresponding first absolute position information. After the time interval, the absolute position information of the corresponding preset number of sampling points is continuously sampled again to determine corresponding second absolute position information. Therefore, the values of the plurality of sampling points are comprehensively considered, the fault tolerance rate of a single sampling point is increased, and the accuracy of the determined absolute position information can be guaranteed.
FIG. 3 shows a flow chart of an example of an absolute position reference point calibration method of a rotary encoder according to an embodiment of the present application. Here, interference of absolute position information (e.g., C, D signal) of the rotary encoder can be effectively suppressed by means of software processing, which is beneficial to improving the motor control performance.
As shown in fig. 3, in step 310, A, B signals of the rotary encoder are obtained, and the corresponding real-time motor rotation speed V1 is calculated.
In step 320, if V1 is 0, go to the next step, otherwise delay waiting (e.g., waiting 1 second) until V1 is 0.
In step 330, the signal is sampled C, D100 times in succession and the corresponding average AveC1, AveD1 are calculated. Therefore, the average value is adopted to replace the instantaneous value, the accidental error of the sampling circuit can be reduced, and the sampling precision is improved.
In step 340, delay 1 second. It should be noted that, in the scenario of using the frequency converter. Electromagnetic contactors are often involved, and strong electromagnetic interference is generated at the moment of contactor operation. Because the action time of the contactor is generally within 500 milliseconds, the interference caused by the action of the contactor can be effectively avoided by delaying for 1 second.
In step 350, the signal is sampled C, D100 times consecutively to get the corresponding average values AveC2 and AveD2, respectively.
If AveC2 is AveC1 and AveD2 is AveD1, then jump to step 360, otherwise jump back to step 320.
In step 360, the AveC2 and AveD2 are used as the true values of the C, D signal, thereby enabling a calibration operation for the absolute position reference point of the rotary encoder.
In the embodiment of the present application, the C, D signal is sampled when V1 is equal to 0, so that the C, D signal can be verified by using the A, B signal. If V1 ═ 0, then if AveC2 ≠ AveC1 or AveD2 ≠ AveD1, that is, it means that C, D signal value changes, indicating that the C, D signal at this time is interfered, and this is not preferable.
In step 370, the signal C, D stops being sampled until V1 ≠ 0. Note that after the ideal value is obtained, sampling should be stopped until V1 ≠ 0. Because of the continuous occurrence of external interference, if the ideal value is obtained, the signal is continuously sampled C, D, increasing the possibility of interference.
Through the embodiment of the application, software configuration is carried out on the basis of the existing hardware, so that the signal interference of the encoder C, D can be conveniently inhibited on the premise of not increasing the hardware cost, the sampling precision of C, D signals can be effectively improved, and the economic benefit is obvious.
Fig. 4 is a block diagram showing a configuration of an example of an absolute position reference point calibration apparatus of a rotary encoder according to an embodiment of the present application.
As shown in fig. 4, the absolute position reference point calibration apparatus 400 of the rotary encoder includes a motor zero rotation speed detection unit 410, an absolute position acquisition unit 420, and an absolute position reference point calibration unit 430.
The motor zero-rotation-speed detecting unit 410 is configured to detect whether a first real-time rotation speed of the motor provided with the rotary encoder is zero.
The absolute position obtaining unit 420 is configured to obtain first absolute position information and second absolute position information corresponding to the rotary encoder before and after a preset time interval, respectively, when the detected first real-time rotation speed is zero.
An absolute position reference point calibration unit 430 is configured to calibrate an absolute position reference point of the rotary encoder based on the first absolute position information if the first absolute position information and the second absolute position information are the same.
In some examples of embodiments of the present application, the motor zero rotation speed detection unit 410 includes a quadrature speed detection module (not shown) and a motor rotation speed detection module (not shown). Specifically, the quadrature speed detection module is configured to detect a quadrature speed signal of the rotary encoder, and the motor speed detection module is configured to determine whether a first real-time rotational speed of the motor is zero based on the detected quadrature speed signal.
In some examples of embodiments of the present application, the absolute position acquisition unit 420 includes a first continuous sampling module (not shown) and a second continuous sampling module (not shown). Specifically, the first continuous sampling module is configured to continuously sample absolute position information corresponding to a preset number of sampling points to determine corresponding first absolute position information when the detected first real-time rotation speed is zero; and the second continuous sampling module is configured to continuously sample the absolute position information of the sampling points corresponding to the preset number again after the time interval to determine corresponding second absolute position information.
It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.
Fig. 5 is a schematic diagram of an example of a mobile terminal according to an embodiment of the present application. As shown in fig. 5, the mobile terminal 500 of this embodiment includes: a processor 510, a memory 520, and a computer program 530 stored in the memory 520 and executable on the processor 510. The processor 510, when executing the computer program 530, implements the steps in the above-described absolute position reference point calibration method embodiment of the rotary encoder, such as the steps 110 to 130 shown in fig. 1. Alternatively, the processor 510, when executing the computer program 530, implements the functions of the modules/units in the above-mentioned device embodiments, such as the functions of the units 410 to 430 shown in fig. 4.
Illustratively, the computer program 530 may be partitioned into one or more modules/units that are stored in the memory 520 and executed by the processor 510 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing certain functions, which are used to describe the execution of the computer program 530 in the mobile terminal 500. For example, the computer program 530 may be divided into a motor zero rotation speed detection program module, an absolute position acquisition program module, and an absolute position reference point calibration program module, where each program module specifically functions as follows:
a motor zero-rotation-speed detection program module configured to detect whether a first real-time rotation speed of a motor provided with a rotary encoder is zero;
an absolute position acquisition program module configured to acquire first absolute position information and second absolute position information corresponding to the rotary encoder before and after a preset time interval, respectively, when the detected first real-time rotation speed is zero;
an absolute position reference point calibration program module configured to calibrate an absolute position reference point of the rotary encoder based on the first absolute position information if the first absolute position information and the second absolute position information are the same.
The mobile terminal 500 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The mobile terminal may include, but is not limited to, a processor 510, a memory 520. Those skilled in the art will appreciate that fig. 5 is only an example of a mobile terminal 500 and does not constitute a limitation of the mobile terminal 500 and may include more or fewer components than those shown, or some components may be combined, or different components, e.g., the mobile terminal may also include input output devices, network access devices, buses, etc.
The Processor 510 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 520 may be an internal storage unit of the mobile terminal 500, such as a hard disk or a memory of the mobile terminal 500. The memory 520 may also be an external storage device of the mobile terminal 500, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the mobile terminal 500. Further, the memory 520 may also include both internal and external memory units of the mobile terminal 500. The memory 520 is used for storing the computer programs and other programs and data required by the mobile terminal. The memory 520 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/mobile terminal and method may be implemented in other ways. For example, the above-described apparatus/mobile terminal embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The above units can be implemented in the form of hardware, and also can be implemented in the form of software.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer-readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A method of absolute position reference point calibration for a rotary encoder, comprising:
detecting whether a first real-time rotating speed of a motor provided with a rotary encoder is zero;
when the detected first real-time rotating speed is zero, respectively acquiring first absolute position information and second absolute position information corresponding to the rotary encoder before and after a preset time interval;
calibrating an absolute position reference point of the rotary encoder based on the first absolute position information if the first absolute position information and the second absolute position information are the same.
2. The method of claim 1, wherein said detecting whether a first real-time rotational speed of a motor provided with a rotary encoder is zero comprises:
detecting a quadrature velocity signal of the rotary encoder;
determining whether a first real-time rotational speed of the motor is zero based on the detected quadrature speed signal.
3. The method of claim 1, wherein sampling the first absolute position information and the second absolute position information corresponding to the rotary encoder before and after a preset time interval when the detected first real-time rotation speed is zero comprises:
when the detected first real-time rotating speed is zero, continuously sampling absolute position information of a corresponding preset number of sampling points to determine corresponding first absolute position information; and
and after the time interval, continuously sampling the absolute position information of the sampling points corresponding to the preset number again to determine corresponding second absolute position information.
4. The method of claim 1, wherein after calibrating the absolute position reference point of the rotary encoder based on the first absolute position information, the method further comprises:
continuously monitoring a second real-time rotational speed of the rotary encoder;
and stopping acquiring the absolute position information corresponding to the rotary encoder until the second real-time rotating speed is not zero.
5. The method of claim 1, wherein the time interval is greater than an actuation time of a contactor of the motor.
6. An absolute position reference point calibration apparatus for a rotary encoder, comprising:
a motor zero-rotation-speed detection unit configured to detect whether a first real-time rotation speed of a motor provided with a rotary encoder is zero;
an absolute position acquisition unit configured to acquire first absolute position information and second absolute position information corresponding to the rotary encoder before and after a preset time interval, respectively, when the detected first real-time rotation speed is zero;
an absolute position reference point calibration unit configured to calibrate an absolute position reference point of the rotary encoder based on the first absolute position information if the first absolute position information and the second absolute position information are the same.
7. The apparatus of claim 6, wherein the motor zero rotation speed detecting unit comprises:
a quadrature speed detection module configured to detect a quadrature speed signal of the rotary encoder;
a motor speed detection module configured to determine whether a first real-time rotational speed of the motor is zero based on the detected quadrature speed signal.
8. The apparatus of claim 6, wherein the absolute position acquisition unit comprises:
a first continuous sampling module configured to continuously sample absolute position information corresponding to a preset number of sampling points to determine corresponding first absolute position information when the detected first real-time rotation speed is zero; and
a second continuous sampling module configured to re-continuously sample the absolute position information corresponding to the preset number of sample points after the time interval to determine corresponding second absolute position information.
9. A mobile terminal comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the absolute position reference point calibration method of a rotary encoder according to any of claims 1-5 when executing the computer program.
10. A computer-readable storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of the absolute position reference point calibration method of a rotary encoder according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011253824.1A CN112556739B (en) | 2020-11-11 | 2020-11-11 | Absolute position reference point calibration method and device of rotary encoder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011253824.1A CN112556739B (en) | 2020-11-11 | 2020-11-11 | Absolute position reference point calibration method and device of rotary encoder |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112556739A true CN112556739A (en) | 2021-03-26 |
| CN112556739B CN112556739B (en) | 2022-05-20 |
Family
ID=75041815
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011253824.1A Active CN112556739B (en) | 2020-11-11 | 2020-11-11 | Absolute position reference point calibration method and device of rotary encoder |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112556739B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130116959A1 (en) * | 2008-08-28 | 2013-05-09 | Faro Technologies, Inc. | Indexed optical encoder, method for indexing an optical encoder, and method for dynamically adjusting gain and offset in an optical encoder |
| CN104518714A (en) * | 2013-10-08 | 2015-04-15 | 英飞凌科技股份有限公司 | Resolver calibration for permanent magnet synchronous motor |
| CN108885123A (en) * | 2016-02-04 | 2018-11-23 | 弗瑞柏私人有限公司 | Rotary encoder for calibrating the method for rotary encoder and for determining correction Angle Position |
| CN109546808A (en) * | 2018-12-18 | 2019-03-29 | 深圳市优必选科技有限公司 | A kind of steering engine and the method for reducing steering engine diastema |
| CN110612234A (en) * | 2017-03-31 | 2019-12-24 | 空中客车A^3有限责任公司 | System and method for calibrating vehicle sensors |
| EP3633322A1 (en) * | 2018-10-05 | 2020-04-08 | Simmonds Precision Products, Inc. | Configurable rotary encoder including two point inflight auto calibration and error adjustment |
-
2020
- 2020-11-11 CN CN202011253824.1A patent/CN112556739B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130116959A1 (en) * | 2008-08-28 | 2013-05-09 | Faro Technologies, Inc. | Indexed optical encoder, method for indexing an optical encoder, and method for dynamically adjusting gain and offset in an optical encoder |
| CN104518714A (en) * | 2013-10-08 | 2015-04-15 | 英飞凌科技股份有限公司 | Resolver calibration for permanent magnet synchronous motor |
| CN108885123A (en) * | 2016-02-04 | 2018-11-23 | 弗瑞柏私人有限公司 | Rotary encoder for calibrating the method for rotary encoder and for determining correction Angle Position |
| CN110612234A (en) * | 2017-03-31 | 2019-12-24 | 空中客车A^3有限责任公司 | System and method for calibrating vehicle sensors |
| EP3633322A1 (en) * | 2018-10-05 | 2020-04-08 | Simmonds Precision Products, Inc. | Configurable rotary encoder including two point inflight auto calibration and error adjustment |
| CN109546808A (en) * | 2018-12-18 | 2019-03-29 | 深圳市优必选科技有限公司 | A kind of steering engine and the method for reducing steering engine diastema |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112556739B (en) | 2022-05-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20150346908A1 (en) | High noise immunity sensing methods and apparatus for a capacitive touch device | |
| CN109959400B (en) | Method and device for calculating absolute encoder parameters and terminal equipment | |
| KR20210110530A (en) | Deep learning based operator registration processing method, device and electronic equipment | |
| CN112720460B (en) | Robot control method, device, computer readable storage medium and robot | |
| CN104461136A (en) | Dynamic threshold adjusting circuit in touch-control device | |
| WO2015026648A1 (en) | Multi-touch inspection tool | |
| WO2008085587A2 (en) | Electronic device and method of touch screen input detection | |
| CN111949457A (en) | Server fault chip detection method and device | |
| CN111752531B (en) | Integer division device and motor control device | |
| CN112556739B (en) | Absolute position reference point calibration method and device of rotary encoder | |
| WO2015143633A1 (en) | Capacitive sensor action in response to proximity sensor data | |
| CN110244222B (en) | Limit origin positioning method and device of motor, terminal equipment and storage medium | |
| CN111380499A (en) | Method and device for detecting rotation angle | |
| CN116399374B (en) | MEMS gyroscope sensor compensation method, device, terminal and storage medium | |
| CN104185832A (en) | Touchscreen system | |
| US20200116470A1 (en) | Rotation angle detection device, rotation angle detection method and program | |
| CN113934312A (en) | Touch object identification method based on infrared touch screen and terminal equipment | |
| CN112114616A (en) | Switching method of real-time clock, electronic equipment and computer storage medium | |
| CN112104292B (en) | Motor control method, device, terminal equipment and storage medium | |
| EP3022643B1 (en) | Techniques for dynamically redirecting device driver operations to user space | |
| CN112905381B (en) | Method, device, equipment and medium for acquiring stack frame information in call stack | |
| CN112148139B (en) | Gesture recognition method and computer readable storage medium | |
| CN115507888A (en) | Pulse incremental photoelectric encoder precision detection system and detection method | |
| CN114370875A (en) | Vehicle state detection method and device and terminal equipment | |
| CN112099759A (en) | Numerical value processing method, device, processing equipment and computer readable storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |