CN116429159A - Method and device for correcting harmonic errors and assembly errors of magneto-electric encoder - Google Patents

Method and device for correcting harmonic errors and assembly errors of magneto-electric encoder Download PDF

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CN116429159A
CN116429159A CN202310134493.7A CN202310134493A CN116429159A CN 116429159 A CN116429159 A CN 116429159A CN 202310134493 A CN202310134493 A CN 202310134493A CN 116429159 A CN116429159 A CN 116429159A
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module
signal
phase
correcting
errors
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章权兵
赵甍
吴海刚
赵泰
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Hangzhou Chenkong Intelligent Control Technology Co ltd
Anhui University
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Hangzhou Chenkong Intelligent Control Technology Co ltd
Anhui University
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    • 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
    • G01D18/001—Calibrating encoders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
    • G01B21/045—Correction of measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
    • Y02E40/40—Arrangements for reducing harmonics

Abstract

The application discloses a method for correcting harmonic errors and assembly errors of a magneto-electric encoder, which comprises the following steps of obtaining a preprocessed input signal, wherein the input signal is a sinusoidal signal V s And cosine signal V c The method comprises the steps of carrying out a first treatment on the surface of the The phase-locked loop obtains an angle signal theta through calculation; the phase-locked loop carries out angle estimation to obtain feedback control quantity
Figure DDA0004084994240000011
Based on feedback control amount of phase-locked loop and sine signal V in input signal s And cosine signal V c Calculating the correlation of the parameters to the sine signal V of the input signal s And cosine signal V c Performing parameter estimation; sinusoidal signals after parameter correction are input to preprocessed sensor in phase discrimination link of phase-locked loop
Figure DDA0004084994240000012
Sum cosine signal
Figure DDA0004084994240000013
Inputting sinusoidal signals to a modified preprocessed sensor using a phase locked loop
Figure DDA0004084994240000014
Sum cosine signal
Figure DDA0004084994240000015
And (5) performing angle estimation and calculating to obtain an angle. The application also discloses a device for correcting harmonic errors and correcting assembly errors of the magnetoelectric encoder, which is suitable for the method.

Description

Method and device for correcting harmonic errors and assembly errors of magneto-electric encoder
Technical Field
The invention relates to the field of encoder correction, in particular to a method and a device for correcting harmonic errors and assembly errors of a magneto-electric encoder.
Background
A magneto-electric encoder is a sensor that converts a mechanical angle of a rotor when the rotor rotates into an electric signal using a hall element or a magnetic induction element located on a stator. Because the magneto-electric encoder has the characteristics of vibration resistance, corrosion resistance and interference resistance. Therefore, the method can be widely applied to the fields of industrial production, medical health, consumer electronics, sports equipment, aerospace, military assembly and the like. Because of industry requirements, the output of the magneto-electric encoder is generally an analog signal or an ABZ three-way pulse signal.
The magneto-electric encoder is divided into a stator part and a rotor part. The stator part consists of a magnetic sensing element, an amplifying circuit, a signal processing circuit, an angle resolving circuit and a peripheral circuit. The rotor is composed of circular magnetic material. The stator is fixed on a tool made of plastic material and manufactured by 3D printing or stamping technology. The rotor is fixed on a steel ring or copper column, which is fixed on a rotating shaft. The rotating shaft and the stator are provided with a certain gap with a fixture for fixing. The gap ensures that the rotor and the stator do not interfere when the rotating shaft rotates, and ensures that the magnetic field generated by the rotor does not exceed the induction range of the Hall element or the magnetic induction element on the stator, namely the phenomenon of top cutting and bottom cutting of sine wave electric signals generated by the Hall element or the magnetic induction element can not occur. In addition, the Hall element or the magnetic induction element is ensured to be uniformly arranged around the magnetic ring on the rotor as much as possible, so that the electric signal generated by the Hall element or the magnetic induction element has good sine.
Fig. 1 is a schematic distribution diagram of hall elements of a rotor portion and a stator of a magneto-electric encoder.
In the figure, hall A and B+ are orthogonally arranged on the circumference of the rotor. In addition, hall A-, B-are respectively arranged at the positions 180 DEG apart from Hall A+, B+. Hall A+, B+, A-, B-generate a differential A signal and a differential B signal, respectively. In the process of rotating the rotor at a constant speed, hall A and B+ output sine waves with phase difference of 90 degrees, and Hall A and B-output sine waves with phase difference of 180 degrees with Hall A and B+ are generated. After Hall A+, B+, A-, B-are converted by an amplifying circuit and analog-to-digital (A/D), path difference is carried out so as to complete preprocessing of sensor signals. The sensor signal after pretreatment can be processed by a subsequent signal processing circuit, and further is resolved by an angle resolving circuit.
However, the rotor and the stator generated during assembly do not coincide with each other in the axial center, and the circuit board itself is affected by ionizing radiation, motor movement during rotation, temperature change, and the like. The sensor signal has the problems of large noise, non-orthogonality of phase, large harmonic wave and the like after amplification, A/D conversion and path difference. In the subsequent resolving circuit, the resolving angle may deviate from the actual mechanical angle, which is disadvantageous for use in the industrial field.
Disclosure of Invention
The present invention proposes a solution to the above problem, aiming at enabling the magneto-electric encoder to correct errors in real time in use. Even if the signals preprocessed by the sensor have the problems of large noise, non-orthogonality of phases and large harmonic wave, the magneto-electric encoder adopting the method and the device for correcting and correcting errors can also process the preprocessed signals of the sensor in real time, thereby reducing the deviation between the calculated angle in the angle calculating circuit and the actual mechanical angle. The invention improves the precision of the magnetoelectric encoder.
The technical scheme adopted by the invention is as follows:
a method for correcting harmonic errors and correcting assembly errors for a magneto-electric encoder, comprising:
the preprocessed input signal being a sinusoidal signal V s And cosine signal V c ；
The angle signal calculated by the phase-locked loop is theta;
feedback control quantity obtained by angle estimation of phase-locked loop
Figure BDA0004084994220000021
Based on feedback control amount of phase-locked loop and sine signal V in input signal s And cosine signal V c Calculating the correlation of the parameters to the sine signal V of the input signal s And cosine signal V c Performing parameter estimation;
sinusoidal signals after parameter correction are input to preprocessed sensor in phase discrimination link of phase-locked loop
Figure BDA0004084994220000031
And cosine signal->
Figure BDA0004084994220000032
Inputting a sinusoidal signal to the modified preprocessed sensor using a phase locked loop>
Figure BDA0004084994220000033
And cosine signal->
Figure BDA0004084994220000034
And (5) performing angle estimation and calculating to obtain an angle.
Wherein the sensor input is sinusoidal signal V subjected to preprocessing s And cosine signal V c And sine signal after parameter correction
Figure BDA0004084994220000035
And cosine signal->
Figure BDA0004084994220000036
The correlation of (2) is represented by the following formula:
Figure BDA0004084994220000037
Figure BDA0004084994220000038
where r is the module length of the input signal
Figure BDA0004084994220000039
k 1 、k 2 Is a correction coefficient;
on the other hand, the invention also provides a device for correcting harmonic wave and assembly error of the magnetoelectric encoder.
The self-correcting device utilizes the feedback signal to perform error optimization on the input signal in the phase discrimination link, and calculates the correction coefficient. The self-correcting device includes:
and the sensor module is a magnetic sensing element capable of detecting magnetic field changes and converting the changes into electric signals.
The sensor preprocessing module is used for preprocessing signals acquired by the sensor.
And a parameter storage module. It is used for storing the initial coefficient k 1 (1)、k 2 (1) Learning rate parameter lambda 1 、λ 2 Parameter iteration number i, and parameter k of Proportional Integral (PI) regulator during phase-locked loop filtering link i 、k p 。
The phase detector module is used for outputting angle errors.
A loop filter module is a proportional-integral (PI) regulator for estimating the angular velocity value.
A voltage-controlled oscillation module for integrating the angular velocity signal generated by Proportional Integral (PI) adjustment during loop filtering and estimating to obtain a feedback angle
Figure BDA0004084994220000041
The sine wave generation submodule generates sine waves by using a circuit or a related device, and the sine wave generation submodule oscillates an estimated angle output by a phase-locked loop to generate sine wave signals with 90-degree phase difference.
The normalization module is used for pre-correcting the input signal and outputting a correction coefficient r.
Furthermore, the invention also provides a parameter correction module which comprises an error sub-module, a gradient calculation sub-module and a coefficient iteration update sub-module of the two paths of signals.
The correction coefficients may be calculated using the following steps,
constructing an error function:
Figure BDA0004084994220000042
judging whether the specified iteration times i are reached; if the value reaches the specified value i, the correction is exited; if the value of the correction coefficient k does not reach the prescribed value of i, the correction coefficient k is output 1 、k 2 As a current correction coefficient; and finally outputting the angle after feedback control for a certain time.
Wherein J (i) represents the error function of the current input ith round of iterations;
Figure BDA0004084994220000043
representing an ith round of iterative sinusoidal signal obtained through phase-locked loop feedback; />
Figure BDA0004084994220000044
Representing an ith round of iterative sinusoidal signal obtained through phase-locked loop feedback; k (k) 1 (i)、k 2 (i) Respectively representing the correction coefficients of the current i-th iteration.
The scheme of the invention can also calculate the gradient of the error to the current weight coefficient according to the following formula:
Figure BDA0004084994220000051
Figure BDA0004084994220000052
wherein the method comprises the steps of
Figure BDA0004084994220000053
Respectively represent the coefficient k 1 、k 2 Is a gradient of (2); e, e 1 (i)、e 2 (i) Respectively representing the error values of the corrected signal sinusoidal signal and the feedback derived signal.
Optionally, the correction factor is updated according to the following equation:
Figure BDA0004084994220000054
Figure BDA0004084994220000055
wherein lambda is 1 、λ 2 Representing the learning rate.
In a preferred embodiment of the present invention, the determination condition during correction may be changed, for example, when the correction function is smaller than a certain threshold value after a certain number of iterations i, this achieves higher accuracy.
In addition, the device for correcting the harmonic wave and correcting the assembly error of the magnetoelectric encoder can be realized in a mode of hardware, software or a combination of the hardware and the software. For example, the method can be implemented by adopting a plurality of singlechips or programmable gate arrays (FPGA) or hardware circuits.
The beneficial effects of the invention are as follows: by correcting the input signal and controlling the feedback of the phase-locked loop, the output angle is finally made to approach the actual mechanical angle, the purpose of real-time correction is achieved, and when the magneto-electric encoder is used, the influence of factors such as assembly errors, motor movement, ionizing radiation, temperature change and the like is reduced, and the precision is improved.
Description of the drawings:
fig. 1 is an installation of a hall element and a magnetic ring.
Fig. 2 is a circular and actually measured lissajous pattern of ideal sine wave and ideal cosine wave outputs.
Fig. 3 is an ideal sine wave and cosine wave output and actual signals collected by the hall element.
Fig. 4 is a block diagram of a magneto-electric encoder of the present invention.
Fig. 5 is a phase locked loop structure of the present invention.
Fig. 6 is a normalized input signal of the present invention.
Fig. 7 is a parameter correction module of the present invention.
Fig. 8 is a flowchart of the corrective algorithm of the present invention.
Fig. 9 is a lissajous diagram with the input signal corrected.
The specific embodiment is as follows:
the present invention will be described in detail with reference to the accompanying drawings.
There are various factors affecting the accuracy of the encoder, such as assembly errors, motor movement, ionizing radiation, temperature variations, etc., when the encoder is used. So that the encoder cannot correctly reflect the mechanical angle of rotation of the rotor. Fig. 2 shows an ideal lissajous circle formed by two hall signals and an irregular lissajous pattern in the case of a certain external disturbance or initial assembly error. The actually measured Lissajous figure is generated under the combined action of large noise, non-orthogonalization of phase and large harmonic wave, and is an irregular figure compared with the Lissajous circle of an ideal signal. In practical use of the encoder, the angular accuracy of the solution in this case is low. This makes the output angle of the magneto-electric encoder not correctly correspond to the actual mechanical angle.
The invention aims to correct the Lissajous circle generated by two paths of Hall under the external influence factors. In other words, the signals generated by the two paths of hall are corrected to sine and cosine values of the actual mechanical angle in real time as much as possible through a parameter correction mode.
As can be seen from fig. 3, when the rotor rotates at a constant speed, the actual signal has a large deviation from the input signal required by the phase-locked loop. Although the phase-locked loop feedback structure can suppress certain noise while calculating the angle in real time. However, when the phase-locked loop performs angle calculation on an input signal with harmonic waves, non-orthogonality of phases and large noise, the result is greatly deviated from the actual angle. Firstly, correcting an input signal to a Lissajous circle, and then correcting the input signal to a correct mechanical angle through a rotation matrix, wherein the correlation between the corrected signal and the input signal is as follows:
Figure BDA0004084994220000071
Figure BDA0004084994220000072
wherein:
r is the module length of the input signal
Figure BDA0004084994220000073
k 1 、k 2 For correction coefficients, a correction coefficient k is thus calculated 1 、k 2 The correction of the input signal can be completed.
Fig. 4 shows a block diagram of a magneto-electric encoder implemented in accordance with the invention. The magneto-electric encoder can correct the input signal of the phase-locked loop in real time under the influence of factors such as assembly errors, motor movement, ionizing radiation, temperature change and the like, and further improves the accuracy of the magneto-electric encoder. For this reason, the magneto-electric encoder of the present invention needs to calculate the correction coefficient in real time for correcting the correction coefficient of the input signal by using the optimization algorithm in machine learning at the time of the calculation.
As shown in fig. 4, the magneto-electric encoder implemented according to the present invention generally includes a sensor 101, a sensor preprocessing module 102, a parameter storage unit module 103, a phase-locked loop module 104, a normalization module 105, and a parameter correction module 106.
The sensor 101 is a magnetic sensing element capable of detecting a change in magnetic field and converting the change into an electrical signal, in this example, a hall element for detecting a change in magnetic field when the rotor rotates.
The sensor preprocessing module 102 is configured to preprocess a signal acquired by a sensor, and the original sensor signal is subjected to amplification, analog-to-digital conversion, and path difference operation, so as to complete the preprocessing operation of the sensor signal.
The parameter storage module 103 is used for storing the initial coefficient k 1 (1)、k 2 (1) Learning rate parameter lambda 1 、λ 2 Parameter iteration number i, and parameter k of Proportional Integral (PI) regulator during phase-locked loop filtering link i 、k p 。
The working flow of the whole device is described with reference to fig. 4, the sensor 101 transmits the signal to the sensor preprocessing module 102, then the sensor preprocessing module 102 transmits the signal to the normalization module 105, the normalization module 105 transmits the signal to the parameter correction module 106, the parameter correction module transmits the signal to the phase-locked loop module, and the parameter storage module stores the parameter k i 、k p The initial coefficient k is stored by the parameter storage module 1 (1)、k 2 (1) Learning rate parameter lambda 1 、λ 2 And transmitting the parameter error correction module.
As shown in fig. 5, the phase-locked loop module 104 of the present invention is a phase detector 107, a loop filter 108, a voltage-controlled oscillator 109, and a sine wave generating sub-module 110.
The phase detector 107 is for outputting an angle error delta theta.
Loop filter 108 is a proportional-integral (PI) regulator that estimates the angular velocity value.
The voltage-controlled oscillation module 109 is an integrator for converting the estimated angular velocity value into an angular value
Figure BDA0004084994220000091
After a certain time of stabilization, the phase-locked loop circuit outputs an angle +.>
Figure BDA0004084994220000092
Is considered to be the value θ of the current mechanical angle.
The sine wave generation sub-module 110 is an oscillator. And generating a sine wave by using a circuit or a related device, and oscillating the estimated angle value to generate the sine wave so as to feedback control the phase-locked loop.
The normalization module 105 removes the module length of the input signal from the two signals of the input signal, thereby achieving the purpose of normalization. As shown in fig. 6, this module enables the input signal to be distributed on the lissajous circle, but the angle at which the normalized signal is resolved is not an actual mechanical angle. The angle correction module is used for accelerating the convergence speed of the angle correction module.
The overall process is illustrated with reference to fig. 5, where the overall phase lock module receives the signal through the phase signer 107 and the resulting signal is output through the voltage controlled oscillator.
The parameter correction module 106 is configured to compensate the signal processed by the normalization module, where the normalized signal still has a certain error with the actual mechanical angle, and the normalized signal needs to be compensated again by using the rotation matrix. The correction signal and the input signal have the following relation by combining the normalization module:
Figure BDA0004084994220000093
Figure BDA0004084994220000101
this relation, which is a signal correction, requires a correction coefficient k 1 、k 2 . The module utilizes a machine-learned optimization algorithm.
Fig. 7 is a parameter correction module according to the present invention. The system comprises an error sub-module 111, a gradient calculation sub-module 112 and a coefficient iteration update sub-module 113 of two paths of signals.
In operation, referring to fig. 7, the error sub-module 111 receives the signals from the oscillator, the normalization module, and the parameter storage module, and the error sub-module transmits the signals to the gradient computation sub-module, which transmits the signals to the coefficient iteration update sub-module, which transmits the signals to the phase-locked loop module.
According to the initial coefficient k of the memory module 1 (1)＝1、k 2 (1) =0; learning rate parameter lambda 1 ＝0.14、λ 2 =0.006; the number of parameter iterations i=6. The initial value is that the initial value of the rotation angle should be zero, the learning rate should be different when the parameters of the two paths of signals are updated, lambda 1 Slightly larger can achieve convergence faster.
The error sub-module 111 adopts a simplified error function, and the difference value between the two paths of signals and the corrected error function is e 1 (i)、e 2 (i) The specific relationship is as follows. The module can be changed into the control of iteration times and can also provide data for subsequent gradient calculation.
Figure BDA0004084994220000102
Figure BDA0004084994220000103
The gradient computation submodule 112. The invention calculates the gradient from the error function as follows:
Figure BDA0004084994220000111
the calculated gradients are:
Figure BDA0004084994220000112
Figure BDA0004084994220000113
the coefficient iteration update sub-module 113, the coefficient update module is each time according to the iteration:
Figure BDA0004084994220000114
Figure BDA0004084994220000115
performing parameter updating, wherein
Figure BDA0004084994220000116
Respectively represent the coefficient k 1 、k 2 Is a gradient of (a).
According to the flowchart shown in fig. 8, the parameter correction module determines whether to perform the parameter correction process through the preset iteration number i in the parameter storage module, if the current angle has passed the iteration number i, the process exits, otherwise, the parameter correction process is continued.
As described above, the input signal is corrected to obtain two corrected signals as
Figure BDA0004084994220000117
The input signal can be corrected in real time by the correction method and the device adopting the method. In the lissajous pattern formed by the input signal after one revolution, the signal used as input to the phase locked loop is significantly improved after correction, as shown in fig. 9. The input signal is more closely to an ideal lissajous circle than an input signal which is not modified.
By using the method, even under the influence of factors such as assembly errors, motor movement, ionizing radiation, temperature change and the like, the input signals can be adjusted in real time by adopting the method and the encoder of the device, so that the encoder precision is improved.
It should be further noted that the above-described methods described herein may be implemented in a variety of ways. Including but not limited to, being manufactured using hardware-built circuits or being programmed using a single-chip microcomputer or programmable logic circuit (FPGA).
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but is intended to cover all equivalent modifications, direct or indirect, as would be included in the scope of the invention.

Claims (8)

1. A method for correcting harmonic error and assembly error of magneto-electric encoder is characterized by comprising the following steps,
acquiring a preprocessed input signal, wherein the input signal is a sine signal V s And cosine signal V c
Phase-locked loop solution to obtain angle signal theta
The phase-locked loop carries out angle estimation to obtain feedback control quantity
Figure FDA0004084994210000011
Based on feedback control amount of phase-locked loop and sine signal V in input signal s And cosine signal V c Calculating the correlation of the parameters to the sine signal V of the input signal s And cosine signal V c Performing parameter estimation;
sinusoidal signals after parameter correction are input to preprocessed sensor in phase discrimination link of phase-locked loop
Figure FDA0004084994210000012
And cosine signal->
Figure FDA0004084994210000013
Inputting a sinusoidal signal to the modified preprocessed sensor using a phase locked loop>
Figure FDA0004084994210000014
And cosine signal->
Figure FDA0004084994210000015
Performing angle estimationAnd calculating to obtain the angle.
2. The method of correcting harmonic errors and correcting assembly errors of a magneto-electric encoder of claim 1, wherein the input sinusoidal signal V s Sinusoidal signal after parameter correction
Figure FDA0004084994210000016
The relation of->
Figure FDA0004084994210000017
Wherein r is the modular length of the input signal +.>
Figure FDA0004084994210000018
k 1 、k 2 Is a correction coefficient.
3. The method of correcting harmonic errors and correcting assembly errors of a magneto-electric encoder of claim 1, wherein the input cosine signal V c And cosine signal after parameter correction
Figure FDA0004084994210000019
The relation of->
Figure FDA00040849942100000110
Wherein r is the modular length of the input signal +.>
Figure FDA00040849942100000111
k 1 、k 2 Is a correction coefficient.
4. A device for correcting harmonic errors and correcting assembly errors of a magnetoelectric encoder suitable for the method for correcting harmonic errors and correcting assembly errors of a magnetoelectric encoder according to any one of claims 1-3, characterized in that it comprises a sensor preprocessing module, a normalization module, a parameter correction module, a phase-locked loop module and a parameter storage module;
the sensor preprocessing module transmits signals to the normalization module, the normalization module transmits signals to the parameter correction module, the parameter correction module transmits signals to the phase-locked loop module, and the parameter storage module transmits signals to the parameter correction module and the phase-locked loop module.
5. The apparatus for correcting harmonic errors and correcting assembly errors of a magneto-electric encoder of claim 4, wherein the phase-locked loop module comprises a phase detector for receiving signals of the parameter correction module, the parameter storage module, and the sine wave generation sub-module, a loop filter for receiving signals of the phase detector, a voltage-controlled oscillator for receiving signals of the loop filter, and a sine wave generation sub-module to which the voltage-controlled oscillator delivers signals.
6. The apparatus for correcting harmonic errors and correcting assembly errors of a magneto-electric encoder of claim 5, wherein the loop filter is a proportional-integral regulator.
7. The apparatus for correcting harmonic errors and correcting assembly errors of a magneto-electric encoder of claim 5, wherein the voltage controlled oscillator is an integrator.
8. The apparatus for correcting harmonic errors and correcting assembly errors of a magneto-electric encoder of claim 4, wherein the parameter correction module comprises an error sub-module, a gradient computation sub-module, and a coefficient iteration update sub-module, the error sub-module passing signals to the gradient computation sub-module, the gradient computation sub-module passing signals to the coefficient iteration update sub-module.
CN202310134493.7A 2023-02-20 2023-02-20 Method and device for correcting harmonic errors and assembly errors of magneto-electric encoder Pending CN116429159A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117516596A (en) * 2024-01-05 2024-02-06 华中科技大学 High-precision online compensation method of magnetoelectric encoder

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117516596A (en) * 2024-01-05 2024-02-06 华中科技大学 High-precision online compensation method of magnetoelectric encoder
CN117516596B (en) * 2024-01-05 2024-04-26 华中科技大学 High-precision online compensation method of magnetoelectric encoder

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