CN114001768A - Self-calibration device of magnetoelectric encoder - Google Patents
Self-calibration device of magnetoelectric encoder Download PDFInfo
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- CN114001768A CN114001768A CN202111262978.1A CN202111262978A CN114001768A CN 114001768 A CN114001768 A CN 114001768A CN 202111262978 A CN202111262978 A CN 202111262978A CN 114001768 A CN114001768 A CN 114001768A
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Abstract
The invention belongs to the technical field of magnetoelectric encoders, and particularly relates to a self-calibration device of a magnetoelectric encoder, which comprises: the system comprises a driving motor, a high-precision encoder arranged on the driving motor, a driven motor and a magneto-electric encoder to be calibrated arranged on the driven motor; a processor in the magneto-electric encoder to be calibrated is used for carrying out direct current deviation and amplitude deviation calibration on sine and cosine signals output by the magnetic sensor and carrying out subdivision decoding to obtain angle position data after preliminary calibration; and searching a calibration table based on the angular position data to determine high-precision angular position data corresponding to the angular position data. In the process of establishing the calibration table, the angle information is acquired in a monitoring mode, and the correction is completed in the synchronous rotation process, so that the step of correcting the correction through a controller in the traditional mode is omitted, the cost is saved, the calibration speed is increased, and the calibration process is more efficient.
Description
Technical Field
The invention belongs to the technical field of magnetoelectric encoders, and particularly relates to a self-calibration device of a magnetoelectric encoder.
Background
The basic principle of the magnetoelectric encoder is that a variable magnetic field generated when a rotor rotates is sensed through a related magnetic sensor chip and is converted into sine and cosine signals of analog quantity to be output, then the sine and cosine signals are sent to an ADC (analog to digital converter) channel of a single chip microcomputer to be sampled, a sampling value is subdivided and decoded, and finally the accurate position of the rotor is obtained.
The high-precision magnetoelectric rotary encoder can obtain a high-precision rotor angle by carrying out proper deviation compensation and subdivision decoding on measured sine and cosine signals, and meanwhile, the high-precision magnetoelectric rotary encoder is low in cost relative to a photoelectric encoder and can meet the precision requirements of multiple industries such as textile industry, logistics industry and the like. With the continuous innovation of magnetic coding technology, the trend of the magnetoelectric encoder towards small volume, high precision and high stability is continuously developing and progressing, and the magnetoelectric encoder has good development prospect.
However, in the magnetic sensor chips widely used at present, such as AMR and GMR, the sine and cosine signals output by the magnetic sensor chips have non-linear factors and harmonics, which may cause deviation between the sine and cosine signals finally sent to the ADC channel of the single chip microcomputer for sampling and the standard sine and cosine signals. Meanwhile, the insufficient accuracy of the ADC sampling also brings errors to angle data obtained by subsequent subdivision decoding. In addition, if the mounting position of the chip is inaccurate, the sine and cosine signals obtained by sampling also have deviation. The above factors cause deviation between the angle obtained by subdivision decoding and the actual position of the rotor, and the improvement of the accuracy of the magnetoelectric encoder is limited.
Disclosure of Invention
Aiming at the defects and the improvement requirements of the prior art, the invention provides a self-calibration device of a magnetoelectric encoder, which aims to improve the detection precision of the magnetoelectric encoder on the position of a motor rotor.
To achieve the above object, according to one aspect of the present invention, there is provided a self-calibration apparatus of a magnetoelectric encoder, including: the system comprises a driving motor, a high-precision encoder arranged on the driving motor, a driven motor and a magneto-electric encoder to be calibrated arranged on the driven motor;
the processor in the magneto-electric encoder to be calibrated is used for carrying out direct current deviation and amplitude deviation calibration and subdivision decoding on sine and cosine signals output by the magnetic sensor to obtain preliminarily calibrated angle position data of the rotor of the driven motor; searching a calibration table based on the angle position data to determine and output high-precision angle position data corresponding to the angle position data;
wherein, the calibration table is obtained in advance by the following method:
the driven motor is connected with the driving motor through a connecting shaft and rotates synchronously; the treater can be right the outside initiative motor rotor angle data of sending of high accuracy encoder is monitored, obtains treat the output angle and the record of the high accuracy encoder that every output angle of calibration magnetoelectric encoder corresponds, obtain the calibration table, treat that every output angle of calibration magnetoelectric encoder carries out for the sine and cosine signal through to the output direct current deviation and amplitude deviation are calibrated and are subdivided and decode the back and obtain.
Further, the searching for the calibration table based on the angular position data to determine the high-precision angular position data corresponding to the angular position data is implemented in the following manner:
recording the preliminarily calibrated angle position data of the rotor of the driven motor as the same digit m as the preset high-precision output data;
using the first n bits of the angle position data to look up a calibration table to obtain corresponding n bits of data output by the high-precision encoder, wherein the data in the calibration table are n bits; and using the last m-n bits for linear interpolation calculation based on the stored data in the calibration table, and finally outputting high-precision m-bit angle data.
Further, the processor in the magnetoelectric encoder to be calibrated is further configured to: when the driven motor rotates for the first circle, recording the maximum value and the minimum value of sine and cosine signals output by the magnetoelectric encoder to be calibrated in the whole process: xmax, Xmin, Ymax, Ymin, calculating amplitudes Ax, Ay of sine and cosine signals and direct current biases Ox, Oy, and using the amplitudes Ax, Ay and the direct current biases Ox, Oy for subsequent calibration of the direct current biases and the amplitude biases; and when the driven motor rotates for a second circle, constructing the calibration table for further subsequent calibration of the angle deviation.
Further, the output angle data of the high-precision encoder is 17-bit data.
Further, the angle data of 14 bits are recorded in the calibration table.
Further, the subdivision decoding adopts a CORDIC method.
Further, the processor monitors the active motor rotor angle data sent by the high-precision encoder through an RS-485 interface.
Generally, by the above technical solution conceived by the present invention, the following beneficial effects can be obtained:
(1) the invention firstly carries out the preliminary calibration of the direct current deviation and the amplitude deviation on the sine and cosine signals, and then carries out the table lookup interpolation on the basis of the preliminary calibration, thereby further calibrating, and effectively solving the problem that the final subdivision angle has the deviation with the actual position of the rotor caused by the factors of the non-linear factor and the harmonic wave of the output signal of the magnetic sensor chip, the low sampling precision of the ADC, the inaccurate installation position of the chip and the like in the background.
(2) When the output angle data of the magneto-electric encoder to be calibrated in the calibration table is not subjected to preliminary calibration, the output angle data of the magneto-electric encoder which is not subjected to preliminary calibration needs to be taken for table lookup interpolation when the magneto-electric encoder works formally, and the data accuracy obtained by direct table lookup interpolation is not high enough because the difference between the output angle data which is not subjected to preliminary calibration and high-accuracy data is large, so that the output angle data of the magneto-electric encoder to be calibrated in the calibration table is subjected to preliminary calibration of direct current deviation and amplitude deviation, and the output angle data of the magneto-electric encoder which is output when the magneto-electric encoder works formally needs to be subjected to preliminary calibration of direct current deviation and amplitude deviation before table lookup interpolation.
(3) In the process of establishing the calibration table, the angle information is acquired in a monitoring mode, and the correction is completed in the synchronous rotation process, so that the step of correcting the correction through a controller in the traditional mode is omitted, the cost is saved, the calibration speed is increased, and the calibration process is more efficient.
Drawings
Fig. 1 is a schematic structural diagram of a self-calibration apparatus of a magnetoelectric encoder according to an embodiment of the present invention;
fig. 2 is a frame diagram of a self-calibration apparatus of a magnetoelectric encoder according to an embodiment of the present invention;
fig. 3 is a calibration flowchart of a self-calibration apparatus of a magnetoelectric encoder according to an embodiment of the present invention.
The same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein:
1 is the magnetoelectric encoder of treating the calibration, 2 is driven motor, 3 is coupling mechanism, 4 is driving motor, and 5 is the high accuracy encoder.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Example one
A self-calibration device of a magnetoelectric encoder is shown in an attached figure 1 and comprises a driving motor 4, a high-precision encoder 5 arranged on the driving motor, a driven motor 2, a connecting mechanism 3 and the magnetoelectric encoder 1 arranged on the driven motor.
A processor in the magneto-electric encoder to be calibrated is used for carrying out direct current deviation and amplitude deviation calibration and subdivision decoding on sine and cosine signals output by the magnetic sensor to obtain preliminarily calibrated angle position data of the rotor of the driven motor; and searching a calibration table based on the angle position data to determine and output high-precision angle position data corresponding to the angle position data.
Wherein, the calibration table is obtained in advance by the following method: the driven motor is connected with the driving motor through a connecting shaft and synchronously rotates; the processor can monitor the angle data of the rotor of the active motor sent by the high-precision encoder outwards, the output angle of the high-precision encoder corresponding to each output angle of the magneto-electric encoder to be calibrated is obtained and recorded, a calibration table is obtained, and each output angle of the magneto-electric encoder to be calibrated is obtained after direct current deviation and amplitude deviation calibration and subdivision decoding are carried out on output sine and cosine signals.
It should be noted that the system may have only one driver, and the driver drives the driving motor to rotate, and the driving motor drives the driven motor to rotate. The "high-precision encoder sending out" may be sending to a server.
In addition, the above-mentioned look-up calibration table based on the angular position data to determine the high-precision angular position data corresponding to the angular position data specifically realizes that:
recording the preliminarily calibrated angle position data of the rotor of the driven motor as the same digit m as the preset high-precision output data;
using the first n bits of the angle position data to look up a calibration table to obtain corresponding n bits of data output by the high-precision encoder, wherein the data in the calibration table are n bits; and using the last m-n bits for linear interpolation calculation based on the stored data in the calibration table, and finally outputting high-precision m-bit angle data.
Preferably, in order to calibrate the dc offset and the amplitude offset of the sine and cosine signal output by the magnetic sensor chip caused by various factors, when the driven motor 2 rotates a first turn, the maximum value and the minimum value of the sine and cosine signal output by the magnetoelectric encoder 1 in the whole process are recorded: xmax, Xmin, Ymax, Ymin. All Xmax, Xmin, Ymax and Ymin need to be measured at the same temperature, otherwise an incorrect calibration would result. The amplitude and offset of the X (COS) and Y (SIN) signals can be calculated using the above measured data, and is calculated as follows:
therefore, the amplitude values Ax and Ay and the direct current biases Ox and Oy of the sine and cosine signals are calculated, and preparation is made for performing direct current offset correction and amplitude normalization on the output sine and cosine signals.
Further, in order to meet the requirement of high precision, a calibration table of the output angle corresponding to the high-precision encoder needs to be established, and the establishment process of the calibration table is as follows: as shown in fig. 2, the driven motor 2 is connected with the driving motor 4 through a connecting shaft 3 to rotate synchronously. After the driven motor 2 finishes rotating the first circle and finishes direct current offset correction and amplitude normalization, when the driven motor 2 and the driving motor 4 synchronously rotate the second circle, the magnetoelectric encoder 1 monitors data sent to a server by the high-precision encoder 5 on the driving motor 4 through an RS-485 interface, so that the output angle of the high-precision encoder 5 corresponding to each output angle value of the magnetoelectric encoder 1 is obtained and recorded, a calibration table is established to further calibrate the angle deviation, wherein each output angle of the magnetoelectric encoder to be calibrated is obtained by calibrating the direct current deviation and the amplitude deviation of output sine and cosine signals and subdividing and decoding.
Meanwhile, in consideration of the memory problem occupied by the calibration table, in order to save cost and improve efficiency, angle data of 14 bits are recorded in the calibration table.
Therefore, after the high-precision magnetoelectric encoder rotates the first circle and the second circle and determines the amplitudes Ax and Ay, the direct current biases Ox and Oy and the calibration table, the magnetoelectric encoder can be realized as the high-precision magnetoelectric encoder through the following self-calibration processes:
firstly, according to the amplitudes Ax and Ay of the sine and cosine signals and the direct current biases Ox and Oy obtained in the process, the direct current offset correction and amplitude normalization are carried out on the sine and cosine signals output by the magnetic sensor chip, and the direct current bias and the amplitude bias are eliminated.
X1＝X-Ox
Y1＝Y-Oy
In the formula, X2 and Y2 are signals of the original output signal after dc offset correction and amplitude normalization, and X1 and Y1 represent signals of the original output signal after dc offset correction.
Further, the angular position data of the rotor after the preliminary calibration is obtained and recorded by carrying out CORDIC subdivision decoding according to the X2 and Y2 signals which are subjected to direct current offset correction and amplitude normalization. Considering that the data is used for table lookup and interpolation in the subsequent process, the data is recorded as 17 bits.
Further, in order to obtain angle output data with higher accuracy, after obtaining a calibration table of the output angle of the high-accuracy encoder 5 corresponding to each output angle value of the magnetoelectric encoder 1, the first 14 bits of the angle position data output after the initial calibration are used for table lookup to obtain the 14-bit angle data of the output of the corresponding high-accuracy encoder 5.
Further, in order to obtain 17-bit high-precision output data, the last 3-bit data of the angle position data output after the initial calibration is used for performing linear interpolation calculation on a value just between two stored data in the calibration table, and finally, the high-precision 17-bit data output is obtained, and the calibration is completed.
In summary, as shown in fig. 3, the flow of the high-precision magnetoelectric encoder in the present invention is as follows: firstly, according to the amplitude values Ax and Ay of sine and cosine signals obtained in the process and direct current offsets Ox and Oy, carrying out direct current offset correction and amplitude normalization on the output sine and cosine signals, carrying out CORDIC subdivision decoding according to the rectified sine and cosine signals to obtain angle position data of a rotor after preliminary calibration, wherein the first 14 bits of the angle data output after preliminary calibration are used for table lookup, and the last 3 bits of data are used for carrying out linear interpolation on a value just between two stored data in a calibration table to obtain high-precision 17-bit data.
With respect to the table lookup and interpolation calculations, the following is now exemplified:
assuming 4096 points are stored in the table, then the difference between two adjacent stored angle values is 0.0879 °, then each magnetoelectric encoder output angle stored in the table is assumed to differ from the output angle of the corresponding high-precision encoder by 0.002 ° due to an error in the output angle of the magnetoelectric encoder. Then when the 17-bit binary data obtained after the preliminary calibration is used to perform table lookup, the first 14 bits of data are first taken and the angle data converted into 10-ary bits is used to determine which two angles in the table is between, and assuming that it is between 0.0859 ° and 0.1738 °, the angle interval of the corresponding high-precision encoder should be between 0.0879 ° and 0.1758 °, and the last 3 bits of data of 17 bits of data are converted into decimal angle data of 0.05757 °, and the final data obtained by performing linear interpolation calculation using the angle data are:
0.0879°+0.05757°/0.0879°*0.0879°＝0.14547°。
it will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (7)
1. A self-calibration apparatus for a magneto-electric encoder, comprising: the system comprises a driving motor, a high-precision encoder arranged on the driving motor, a driven motor and a magneto-electric encoder to be calibrated arranged on the driven motor;
the processor in the magneto-electric encoder to be calibrated is used for carrying out direct current deviation and amplitude deviation calibration and subdivision decoding on sine and cosine signals output by the magnetic sensor to obtain preliminarily calibrated angle position data of the rotor of the driven motor; searching a calibration table based on the angle position data to determine and output high-precision angle position data corresponding to the angle position data;
wherein, the calibration table is obtained in advance by the following method:
the driven motor is connected with the driving motor through a connecting shaft and rotates synchronously; the treater can be right the outside initiative motor rotor angle data of sending of high accuracy encoder is monitored, obtains treat the output angle and the record of the high accuracy encoder that every output angle of calibration magnetoelectric encoder corresponds, obtain the calibration table, treat that every output angle of calibration magnetoelectric encoder carries out for the sine and cosine signal through to the output direct current deviation and amplitude deviation are calibrated and are subdivided and decode the back and obtain.
2. A high-precision magnetoelectric encoder according to claim 1, characterized in that the calibration table is looked up based on the angular position data to determine the high-precision angular position data corresponding to the angular position data, and the specific implementation manner is:
recording the preliminarily calibrated angle position data of the rotor of the driven motor as the same digit m as the preset high-precision output data;
using the first n bits of the angle position data to look up a calibration table to obtain corresponding n bits of data output by the high-precision encoder, wherein the data in the calibration table are n bits; and using the last m-n bits for linear interpolation calculation based on the stored data in the calibration table, and finally outputting high-precision m-bit angle data.
3. A high accuracy magnetoelectric encoder according to claim 1, characterized in that the processor in the magnetoelectric encoder to be calibrated is further configured to: when the driven motor rotates for the first circle, recording the maximum value and the minimum value of sine and cosine signals output by the magnetoelectric encoder to be calibrated in the whole process: xmax, Xmin, Ymax, Ymin, calculating amplitudes Ax, Ay of sine and cosine signals and direct current biases Ox, Oy, and using the amplitudes Ax, Ay and the direct current biases Ox, Oy for subsequent calibration of the direct current biases and the amplitude biases; and when the driven motor rotates for a second circle, constructing the calibration table for further subsequent calibration of the angle deviation.
4. A high accuracy magnetoelectric encoder according to claim 1, characterized in that the output angle data of the high accuracy encoder is 17 bits of data.
5. A high accuracy magnetoelectric encoder according to claim 4, characterized in that the angle data recorded in the calibration table are all 14 bits.
6. A high accuracy magnetoelectric encoder according to claim 1, characterized in that said subdivision decoding employs CORDIC method.
7. A high accuracy magnetoelectric encoder according to claim 1, characterized in that the processor monitors the active motor rotor angle data sent out by the high accuracy encoder through RS-485 interface.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2024087589A1 (en) | 2022-10-24 | 2024-05-02 | 泉州昆泰芯微电子科技有限公司 | Magnetic encoder self-calibration method, motor, and angle detection value calibration method |
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