CN113726258A - Measurement and compensation method for internal signal transmission delay of magnetic encoder - Google Patents

Measurement and compensation method for internal signal transmission delay of magnetic encoder Download PDF

Info

Publication number
CN113726258A
CN113726258A CN202111043215.8A CN202111043215A CN113726258A CN 113726258 A CN113726258 A CN 113726258A CN 202111043215 A CN202111043215 A CN 202111043215A CN 113726258 A CN113726258 A CN 113726258A
Authority
CN
China
Prior art keywords
encoder
delay
magnetic encoder
optical encoder
motor
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
Application number
CN202111043215.8A
Other languages
Chinese (zh)
Other versions
CN113726258B (en
Inventor
徐纯科
杨海鑫
其他发明人请求不公开姓名
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Chengdu Kanop Robot Technology Co ltd
Original Assignee
Chengdu Kanop Robot Technology Co ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Chengdu Kanop Robot Technology Co ltd filed Critical Chengdu Kanop Robot Technology Co ltd
Priority to CN202111043215.8A priority Critical patent/CN113726258B/en
Publication of CN113726258A publication Critical patent/CN113726258A/en
Application granted granted Critical
Publication of CN113726258B publication Critical patent/CN113726258B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
    • 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
    • G01D3/00—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups
    • G01D3/028—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups mitigating undesired influences, e.g. temperature, pressure
    • G01D3/036—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups mitigating undesired influences, e.g. temperature, pressure on measuring arrangements themselves
    • G01D3/0365—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups mitigating undesired influences, e.g. temperature, pressure on measuring arrangements themselves the undesired influence being measured using a separate sensor, which produces an influence related signal
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H02K11/21—Devices for sensing speed or position, or actuated thereby
    • H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H02K11/21—Devices for sensing speed or position, or actuated thereby
    • H02K11/22—Optical devices
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/20—Controlling the acceleration or deceleration

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Control Of Electric Motors In General (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)

Abstract

The invention discloses a measuring and compensating method for signal transmission delay in a magnetic encoder, which is characterized in that an optical encoder is coaxially connected with a tested motor provided with the magnetic encoder and is corrected; connecting a magnetic encoder to a servo driver; the DSP reads the output value of the magnetic encoder, outputs the angle value of the magnetic encoder in an analog signal mode, observes the DAC output value and the Z-phase output value of the optical encoder by using an oscilloscope, and measures the time from the zero point of the DAC output value to the Z-phase rising edge of the optical encoderSeparate T0Subtracting the inherent processing delay of the DAC to obtain the delay of the magnetic encoder, fitting the measured data for multiple times, and establishing a rotating speed-delay compensation table; and then a Smith pre-estimation compensator is adopted to carry out delay compensation on the control system. The optical encoder and the magnetic encoder are coaxially arranged, and the time delay value of the magnetic encoder is determined by taking the optical encoder as a reference. The method is simple and easy to use, does not need a specific hardware interface, has wide applicability and is beneficial to industrial application.

Description

Measurement and compensation method for internal signal transmission delay of magnetic encoder
Technical Field
The invention relates to the technical field of industrial robot control, in particular to the technical field of encoder correction, and specifically relates to a method for measuring and compensating internal signal transmission delay of a magnetic encoder.
Background
The reasons for generating delay in internal signal transmission of the magnetic encoder include internal signal processing, communication transmission and the like, which are equivalent to adding a pure hysteresis link to a feedback loop of a servo control system, thereby affecting the stability of the system and easily causing the divergence of the system state under the condition of large parameters of a controller. In the prior art, most of compensation methods for an encoder are carried out from the angle of precision, measurement compensation is rarely carried out on the time delay of the encoder, the circuit structure of the encoder is improved and the time delay problem is compensated in the Chinese utility model patent with the publication number of CN212620783U and the name of SSI bus magnetic encoder with time delay compensation, the transmission time delay of the encoder is improved by designing a novel encoder structure, but the encoder can not be replaced generally due to the reasons of motor structure, driver, cost and the like of a motor used in an industrial field, so the method is not suitable for the application in the industrial field; in the chinese patent application with publication number CN111831019A and entitled motor position data compensation method and motor control system, a clock signal is sent to an encoder, so that the encoder sends a signal according to a certain frequency, then receives the signal sent by the encoder, and a fixed delay of an encoder communication interface and a random delay of a collector are obtained by recording a time difference between sending and receiving encoder information of reading an encoder signal, thereby compensating for the transmission delay of the encoder. Although the calculation method is accurate, encoder hardware is required to support external clock excitation, many magnetic encoders in the industrial field are fixed schemes of motor manufacturers, the hardware generally does not support the external clock excitation, and signal transmission methods are different, so that the method has no certain universality and is not suitable for industrial field application.
Disclosure of Invention
The invention aims to provide a method for measuring and compensating signal transmission delay inside a magnetic encoder, which is used for solving the problem that the delay of the magnetic encoder cannot be calculated and compensated in industrial field application.
The invention solves the problems through the following technical scheme:
a method for measuring and compensating signal transmission delay inside a magnetic encoder comprises the following steps:
step S100, coaxially connecting an optical encoder with a tested motor provided with a magnetic encoder, and correcting the optical encoder;
step S200, connecting a magnetic encoder into a servo driver matched with a tested motor to be used as a feedback signal for speed control;
step S300: the DSP of the servo driver reads the output value of the magnetic encoder, outputs the angle value of the magnetic encoder in an analog signal mode through a digital-to-analog converter (DAC), simultaneously observes the output value of the DAC and the output value of the Z phase of the optical encoder by using an oscilloscope, and measures the time interval T from the zero point of the output value of the DAC to the rising edge of the Z phase of the optical encoder0Obtaining the magnetic encoder delay Tdelay：
Tdelay＝T0-TDAC
Wherein, TDACInherent processing delays for the DAC;
step S400, repeating the step S300, measuring the time delay of the magnetic encoder of the tested motor at different rotating speeds, fitting the measured data, and establishing a rotating speed-time delay compensation table;
and S500, performing delay compensation on the control system by adopting a Smith pre-estimation compensator according to the rotating speed-delay compensation table.
The step of correcting the optical encoder comprises:
step A1: assembling an optical encoder coded disc and an optical encoder coded disc reading head through connecting workpieces and installing the optical encoder coded disc and the optical encoder coded disc reading head on a rotating shaft of a tested motor;
step A2: manually and slowly rotating the motor rotating shaft, adjusting the mounting position of the optical encoder code disc and the verticality of the connecting workpiece and the tested motor rotating shaft, and ensuring that the optical encoder reading head is in contact with and vertical to the optical encoder code disc;
step A3: uniformly running the tested motor at a low speed, and observing the period and the high-level duration of an ABZ three-phase signal output by a light encoder by using an oscilloscope;
step A4: if the period or high level duration time of the output ABZ three-phase signal is unstable, adjusting the code disc installation levelness, and returning to the step A2; otherwise, entering the next step;
step A5: carry out zero correction to optical encoder, specifically include:
electrifying the tested motor according to the directions of the current flowing in from the U-phase winding and the current flowing out from the V-phase winding, wherein the electrified current is the direct current smaller than the rated value;
orienting the rotor to a balance position, adjusting the position of a code disc, observing a Z-phase output signal of the optical encoder by using an oscilloscope, adjusting the relative position of a connecting workpiece and a motor rotating shaft until the Z-phase signal of the optical encoder just generates a high level signal rising edge, stabilizing the high level, and fixing the relative positions of the optical encoder, the connecting workpiece and the motor rotating shaft;
twisting the motor rotating shaft in the forward and reverse directions, loosening the motor rotating shaft to enable the motor rotating shaft to freely recover to a balance position, observing whether a Z-axis rising edge is generated in the process and stabilizing the Z-axis rising edge at a high level, and if not, returning to the step A2; if the position is stable, the position is also used as the zero position of the magnetic encoder, and the next step is carried out;
step A6: and locking and connecting the workpieces.
The step S400 includes:
in the low speed section where the motor speed is less than 1000RPM, starting from 50RPM, the motor given speed is increased by 50RPM steps up to 1000RPM, and 5 sets of magnetic encoder delay data are measured at each speed:
Figure BDA0003250192680000031
starting at 1200RPM, the motor is increased for a given speed in steps of 200RPM up to a nominal speed (e.g., 3000RPM), and 5 sets of magnetic encoder delay data are measured for each speed:
Figure BDA0003250192680000032
making the fitting function a linear equation of one degree
Figure BDA0003250192680000033
Defining a loss function
Figure BDA0003250192680000034
Wherein omegakIs the rotation speed;
substituting the measured time delay data of the magnetic encoder into a fitting function to obtain an overdetermined equation set:
Figure BDA0003250192680000041
solving the least square solution to obtain the solution with the minimum loss function
Figure BDA0003250192680000042
Rewriting the over-determined equation set into a matrix form:
Figure BDA0003250192680000043
obtaining:
Figure BDA0003250192680000044
the unique least squares solution of the over-determined system of equations is:
Figure BDA0003250192680000045
the fitting function is
Figure BDA0003250192680000046
The fitting function can be regarded as an optimal function expression between the motor rotating speed and the encoder delay;
and substituting the set value of the revolution of the motor into the fitting function to obtain the delay value of the magnetic encoder so as to obtain a rotating speed-delay compensation table.
The step S500 includes: and the Smith pre-estimation compensator is adopted to feed forward the controller, and the delay value of the magnetic encoder is substituted into the delay pre-estimation link of the Smith pre-estimation compensator to compensate the influence of delay on a control system.
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) the optical encoder and the magnetic encoder are coaxially arranged, the optical encoder is used as a reference, and the low-delay characteristic of an analog signal output by the optical encoder is compared with the measured magnetic encoder, so that the delay value of the magnetic encoder is determined. The method is simple and easy to use, does not need a tested encoder to have a specific hardware interface, has wide applicability and is beneficial to industrial application.
(2) After the time delay is calculated through the optical encoder, the Smith pre-estimation compensator is adopted to feed forward the controller, and the time delay value of the magnetic encoder is substituted into the time delay pre-estimation link of the Smith pre-estimation compensator to compensate the influence of the time delay on a control system.
Drawings
FIG. 1 is a schematic view of an optical encoder-connecting piece-motor under test installation of the present invention;
FIG. 2 is a diagram showing the effect of the installation of the optical encoder, the connecting workpiece and the motor to be tested;
FIG. 3 is a schematic diagram of a delay measurement principle;
FIG. 4 is a schematic structural diagram of a Smith pre-estimation compensator with a delay link in a feedback loop;
wherein, 1-magnetic encoder; 2-the motor to be tested; 3-optical encoder code wheel; 4-optical encoder readhead.
Detailed Description
The present invention will be described in further detail with reference to examples, but the embodiments of the present invention are not limited thereto.
Example 1:
referring to fig. 1 and fig. 2, a method for measuring signal transmission delay inside a magnetic encoder includes:
step S100, coaxially connecting the optical encoder with the tested motor 2 provided with the magnetic encoder 1, and correcting the optical encoder, wherein the correction steps are as follows:
(1) the method comprises the following steps of referring to an optical encoder manual, assembling an optical encoder coded disc 3 and an optical encoder reading head 4 through connecting workpieces, and installing the optical encoder coded disc and the optical encoder reading head on a rotating shaft of a tested motor 2;
(2) manually rotating the motor rotating shaft at a slow speed, observing whether the reading head 4 of the optical encoder is in contact with the coded disc or not and whether the reading head is inclined or not, if so, adjusting the mounting position of the coded disc, and connecting the verticality of the workpiece and the motor rotating shaft;
(3) the tested motor 2 is operated at a uniform low speed, an oscilloscope is used for observing whether the period and the high level duration of an ABZ three-phase signal output by an optical encoder are stable or not, if the period and the high level duration are not stable, the steps (2) and (3) are repeated, and the mounting levelness of a code disc 3 of the optical encoder is adjusted;
(4) and zero correction, namely, a tested motor 2 is energized with direct current smaller than a rated value according to the directions of flowing in from a U-phase winding and flowing out from a V-phase winding, a rotor is oriented to a balance position, the position of a code disc is adjusted, an oscilloscope is used for observing a Z-phase output signal of an optical encoder, the relative position of a connecting workpiece and a motor rotating shaft is adjusted while observing until a Z-phase signal of the optical encoder just generates a high-level signal rising edge, the high level is stabilized, and the relative position of the connecting workpiece and the motor rotating shaft of the encoder is fixed. Twisting the motor rotating shaft in the forward and reverse directions, loosening the motor rotating shaft to enable the motor rotating shaft to freely recover to a balance position, observing whether a Z-axis rising edge is generated in the process, stabilizing the Z-axis rising edge at a high level, if not, repeating the steps (3) and (4), and if so, taking the position as a zero position of the magnetic encoder 1;
(5) and (3) locking the connecting workpiece, and checking whether the optical encoder code disc 3 is firmly connected with the motor shaft through the connecting workpiece or not, so that the phenomenon of looseness exists or not.
Step S200, connecting the magnetic encoder 1 into a servo driver matched with the tested motor 2 to be used as a feedback signal for speed control;
step S300: the DSP of the servo driver reads the output value of the magnetic encoder 1 and converts the angle value of the magnetic encoder 1 through the DACOutputting in the mode of analog signals, observing the output value of the DAC and the output value of the Z phase of the optical encoder by using an oscilloscope at the same time, and measuring the time interval T from the zero point of the output value of the DAC to the rising edge of the Z phase of the optical encoder0As shown in FIG. 3, a time delay T of the magnetic encoder 1 is obtaineddelay：
Tdelay＝T0-TDAC
Wherein, TDACInherent processing delays for the DAC;
step S400, repeating the step S300, measuring the time delay of the magnetic encoder 1 of the tested motor 2 at different rotating speeds, fitting the measured data, and establishing a rotating speed-time delay compensation table;
the step S400 includes:
in the low speed section where the motor speed is less than 1000RPM, starting from 50RPM, the motor given speed is increased by 50RPM steps up to 1000RPM, and 5 sets of magnetic encoder 1 delay data are measured at each speed:
Figure BDA0003250192680000071
starting at 1200RPM, the motor is increased by a given speed in steps of 200RPM up to the nominal speed (3000 RPM for example), and 5 sets of magnetic encoder 1 delay data are measured for each speed:
Figure BDA0003250192680000072
making the fitting function a linear equation of one degree
Figure BDA0003250192680000073
Defining a loss function
Figure BDA0003250192680000074
Wherein omegakIs the rotation speed;
substituting the measured time delay data of the magnetic encoder 1 into a fitting function to obtain an overdetermined equation set:
Figure BDA0003250192680000075
solving the least square solution to obtain the solution with the minimum loss function
Figure BDA0003250192680000076
Rewriting the over-determined equation set into a matrix form:
Figure BDA0003250192680000081
obtaining:
Figure BDA0003250192680000082
solving the theorem according to least squares: vector X*The only requirement for a least-squares solution of the equation AX B is ATAX*＝ATB, and when the column vectors of a are linearly independent, the solution is unique. The only least squares solution of the over-determined system of equations is therefore:
Figure BDA0003250192680000083
the fitting function is
Figure BDA0003250192680000084
The fitting function can be regarded as an optimal function expression between the motor rotating speed and the encoder delay;
the delay value of the magnetic encoder 1 can be solved by substituting the set value of the revolution of the motor into the fitting function, and a revolution speed-delay compensation table is obtained.
As shown in fig. 4, the step S500 includes: according to the rotating speed-delay compensation table, the Smith pre-estimation compensator is adopted to feed forward the controller, the delay value of the magnetic encoder 1 is substituted into the delay pre-estimation link of the Smith pre-estimation compensator, the influence of delay on a control system is compensated, and the control performance of the system is improved.
The invention uses the characteristic of low delay of the analog signal output by the optical encoder, takes the Z-phase signal as a reference value, and compares the reference value with the output value of the magnetic encoder of the tested motor, thereby measuring the delay of the signal of the magnetic encoder and carrying out function fitting on the delay under the condition of different rotating speeds. The measuring method is simple and does not need excessive equipment cost. Meanwhile, the optical encoder is convenient to install and high in installation precision by installing the connecting workpiece of the optical encoder on the motor rotating shaft. Aiming at different motor rotating speeds, the corresponding delay values of different rotating speeds can be calculated through a fitting function fitted by measured data, the obtained encoder delay values can be used as an important reference for designing a delay compensation algorithm, and the encoder delay is more intuitively represented. The method can be used as a method for evaluating the time delay of the magnetic encoder, and the measured data can also be directly compensated through a control algorithm, so that the control performance of a servo system based on the magnetic encoder is improved.
Although the present invention has been described herein with reference to the illustrated embodiments thereof, which are intended to be preferred embodiments of the present invention, it is to be understood that the invention is not limited thereto, and that numerous other modifications and embodiments can be devised by those skilled in the art that will fall within the spirit and scope of the principles of this disclosure.

Claims (4)

1. A method for measuring and compensating signal transmission delay inside a magnetic encoder is characterized by comprising the following steps:
step S100, coaxially connecting an optical encoder with a tested motor provided with a magnetic encoder, and correcting the optical encoder;
step S200, connecting a magnetic encoder into a servo driver matched with a tested motor to be used as a feedback signal for speed control;
step S300: the DSP of the servo driver reads the output value of the magnetic encoder, the angle value of the magnetic encoder is output in an analog signal mode through a digital-to-analog converter (DAC), and an oscilloscope is used for simultaneously observing the output value of the DAC and the output value of the DACThe Z-phase output value of the optical encoder is measured, and the time interval T from the zero point of the DAC output value to the Z-phase rising edge of the optical encoder is measured0Obtaining the magnetic encoder delay Tdelay：
Tdelay＝T0-TDAC
Wherein, TDACInherent processing delays for the DAC;
step S400, repeating the step S300, measuring the time delay of the magnetic encoder of the tested motor at different rotating speeds, fitting the measured data, and establishing a rotating speed-time delay compensation table;
and S500, performing delay compensation on the control system by adopting a Smith pre-estimation compensator according to the rotating speed-delay compensation table.
2. The method of claim 1, wherein the step of calibrating the optical encoder comprises:
step A1: assembling an optical encoder coded disc and an optical encoder coded disc reading head through connecting workpieces and installing the optical encoder coded disc and the optical encoder coded disc reading head on a rotating shaft of a tested motor;
step A2: manually and slowly rotating the motor rotating shaft, adjusting the mounting position of the optical encoder code disc and the verticality of the connecting workpiece and the tested motor rotating shaft, and ensuring that the optical encoder reading head is in contact with and vertical to the optical encoder code disc;
step A3: uniformly running the tested motor at a low speed, and observing the period and the high-level duration of an ABZ three-phase signal output by a light encoder by using an oscilloscope;
step A4: if the period or high level duration time of the output ABZ three-phase signal is unstable, adjusting the code disc installation levelness, and returning to the step A2; otherwise, entering the next step;
step A5: carry out zero correction to optical encoder, specifically include:
electrifying the tested motor according to the directions of the current flowing in from the U-phase winding and the current flowing out from the V-phase winding, wherein the electrified current is the direct current smaller than the rated value;
orienting the rotor to a balance position, adjusting the position of a code disc, observing a Z-phase output signal of the optical encoder by using an oscilloscope, adjusting the relative position of a connecting workpiece and a motor rotating shaft until the Z-phase signal of the optical encoder just generates a high level signal rising edge, stabilizing the high level, and fixing the relative positions of the optical encoder, the connecting workpiece and the motor rotating shaft;
twisting the motor rotating shaft in the forward and reverse directions, loosening the motor rotating shaft to enable the motor rotating shaft to freely recover to a balance position, observing whether a Z-axis rising edge is generated in the process and stabilizing the Z-axis rising edge at a high level, and if not, returning to the step A2; if the position is stable, the position is also used as the zero position of the magnetic encoder, and the next step is carried out;
step A6: and locking and connecting the workpieces.
3. The method of claim 1, wherein the step S400 comprises:
in the low speed section where the motor speed is less than 1000RPM, starting from 50RPM, the motor given speed is increased by 50RPM steps up to 1000RPM, and 5 sets of magnetic encoder delay data are measured at each speed:
Figure FDA0003250192670000021
starting at 1200RPM, the motor is increased by a given speed in steps of 200RPM until the nominal speed, and 5 sets of magnetic encoder delay data are measured for each speed:
Figure FDA0003250192670000022
making the fitting function a linear equation of one degree
Figure FDA0003250192670000023
Defining a loss function
Figure FDA0003250192670000024
Wherein omegakIs the rotation speed;
substituting the measured time delay data of the magnetic encoder into a fitting function to obtain an overdetermined equation set:
Figure FDA0003250192670000031
solving the least square solution to obtain the solution with the minimum loss function
Figure FDA0003250192670000032
Rewriting the over-determined equation set into a matrix form:
Figure FDA0003250192670000033
obtaining:
Figure FDA0003250192670000034
the unique least squares solution of the over-determined system of equations is:
Figure FDA0003250192670000035
the fitting function is
Figure FDA0003250192670000036
The fitting function can be regarded as an optimal function expression between the motor rotating speed and the encoder delay;
and substituting the set value of the revolution of the motor into the fitting function to obtain the delay value of the magnetic encoder so as to obtain a rotating speed-delay compensation table.
4. The method of claim 3, wherein the step S500 comprises: and the Smith pre-estimation compensator is adopted to feed forward the controller, and the delay value of the magnetic encoder is substituted into the delay pre-estimation link of the Smith pre-estimation compensator to compensate the influence of delay on a control system.
CN202111043215.8A 2021-09-07 2021-09-07 Measurement and compensation method for internal signal transmission delay of magnetic encoder Active CN113726258B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111043215.8A CN113726258B (en) 2021-09-07 2021-09-07 Measurement and compensation method for internal signal transmission delay of magnetic encoder

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111043215.8A CN113726258B (en) 2021-09-07 2021-09-07 Measurement and compensation method for internal signal transmission delay of magnetic encoder

Publications (2)

Publication Number Publication Date
CN113726258A true CN113726258A (en) 2021-11-30
CN113726258B CN113726258B (en) 2022-11-25

Family

ID=78682163

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111043215.8A Active CN113726258B (en) 2021-09-07 2021-09-07 Measurement and compensation method for internal signal transmission delay of magnetic encoder

Country Status (1)

Country Link
CN (1) CN113726258B (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023100064A1 (en) * 2021-12-01 2023-06-08 Innovusion (suzhou) Co., Ltd. Outer-rotor motor for laser radar with rotational speed monitoring function and laser radar
CN116488763A (en) * 2023-04-20 2023-07-25 上海先楫半导体科技有限公司 Encoder communication delay compensation device and method

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01110085A (en) * 1987-10-21 1989-04-26 Canon Inc Motor controller
JPH10253390A (en) * 1997-03-13 1998-09-25 Yaskawa Electric Corp Magnetic encoder apparatus
US20090018790A1 (en) * 2007-07-13 2009-01-15 Samsung Electronics Co., Ltd. Encoder apparatus and calibration method of the same apparatus
CN105492869A (en) * 2013-07-12 2016-04-13 Trw有限公司 Rotary encoder
WO2018062864A2 (en) * 2016-09-27 2018-04-05 성균관대학교 산학협력단 Device for compensating output signal of magnetic encoder
CN109612502A (en) * 2018-12-05 2019-04-12 麦歌恩电子(上海)有限公司 The test method and system of magnetic coder chip interior signal transmission delay

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01110085A (en) * 1987-10-21 1989-04-26 Canon Inc Motor controller
JPH10253390A (en) * 1997-03-13 1998-09-25 Yaskawa Electric Corp Magnetic encoder apparatus
US20090018790A1 (en) * 2007-07-13 2009-01-15 Samsung Electronics Co., Ltd. Encoder apparatus and calibration method of the same apparatus
CN105492869A (en) * 2013-07-12 2016-04-13 Trw有限公司 Rotary encoder
WO2018062864A2 (en) * 2016-09-27 2018-04-05 성균관대학교 산학협력단 Device for compensating output signal of magnetic encoder
CN109612502A (en) * 2018-12-05 2019-04-12 麦歌恩电子(上海)有限公司 The test method and system of magnetic coder chip interior signal transmission delay

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023100064A1 (en) * 2021-12-01 2023-06-08 Innovusion (suzhou) Co., Ltd. Outer-rotor motor for laser radar with rotational speed monitoring function and laser radar
CN116488763A (en) * 2023-04-20 2023-07-25 上海先楫半导体科技有限公司 Encoder communication delay compensation device and method
CN116488763B (en) * 2023-04-20 2024-04-30 上海先楫半导体科技有限公司 Encoder communication delay compensation device and method

Also Published As

Publication number Publication date
CN113726258B (en) 2022-11-25

Similar Documents

Publication Publication Date Title
CN113726258B (en) Measurement and compensation method for internal signal transmission delay of magnetic encoder
US5299143A (en) Displacement detecting apparatus
EP1615331B1 (en) Motor controller
US20080272731A1 (en) Method and system for resolver alignment in electric motor system
CN112304210B (en) Hall angle sensor angle calibration method
US8059021B2 (en) Digital-analog converting apparatus and test apparatus
CN112066863B (en) Moving-coil linear motor position calibration device and method
CN111082730B (en) Calibration method for maximum torque current ratio control of permanent magnet synchronous motor
CN111750903A (en) Winding integrated magnetoelectric encoder and independent calibration method thereof
CN111464096A (en) Method for correcting signal delay of Hall sensor for air compressor motor
CN110729940A (en) Method for detecting initial phase of permanent magnet synchronous motor
US6850030B2 (en) Method and device for controlling currents of synchronous motor
JPH07229757A (en) Signal processing device, position detecting device and driving device
WO1992000630A1 (en) A/d or d/a converter, a/d and d/a converter system and a calibration method thereof
JP4488749B2 (en) Stepping motor micro-step drive device, control method thereof, and operation method thereof
US20070241712A1 (en) Method and apparatus for digital control of a motor
US8552670B2 (en) Control circuit of an electric motor with a measure delay compensation and motor system comprising the circuit
US20040260499A1 (en) Encoder signal interpolation divider
CN113972860B (en) Motor rotor position compensation method and electronic equipment
CN113640667B (en) Automatic calibration method and system for EOL off-line zero point of motor
JP2003032108A (en) Linearity compensation device and linearity compensation method
CN106921333B (en) Dynamic compensation method for motor torque ripple
RU2044274C1 (en) Stand for testing precision angular velocity gyroscopic pickup
RU2115128C1 (en) Bed testing meters of angular velocities
CN111756289A (en) Control method suitable for portable turntable

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