CN116639531B - Rotary table rotation control method and system based on encoder - Google Patents
Rotary table rotation control method and system based on encoder Download PDFInfo
- Publication number
- CN116639531B CN116639531B CN202310428221.8A CN202310428221A CN116639531B CN 116639531 B CN116639531 B CN 116639531B CN 202310428221 A CN202310428221 A CN 202310428221A CN 116639531 B CN116639531 B CN 116639531B
- Authority
- CN
- China
- Prior art keywords
- turntable
- encoder
- beta
- reading
- ori
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000009434 installation Methods 0.000 claims abstract description 7
- 230000005540 biological transmission Effects 0.000 claims description 9
- 239000000463 material Substances 0.000 description 4
- 238000001514 detection method Methods 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/18—Constructional details
-
- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06C—FINISHING, DRESSING, TENTERING OR STRETCHING TEXTILE FABRICS
- D06C15/00—Calendering, pressing, ironing, glossing or glazing textile fabrics
-
- 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
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/14—Structural association with mechanical loads, e.g. with hand-held machine tools or fans
-
- 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
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Textile Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The invention relates to the technical field of turntable positioning, in particular to a turntable rotation control method and a turntable rotation control system based on an encoder, wherein the method comprises the following steps: and (3) equipment installation: the turntable and the servo motor with the encoder are installed; two clamping rods are arranged on the turntable; initial debugging: taking one point at the edge of the turntable as a mechanical zero point, rotating the mechanical zero point to the top end or the bottom end of the turntable, reading the encoder reading A0 at the moment, and recording the turntable angle as beta 0 = 0 degree; and (3) rotation control: before the turntable rotates, setting a target angle to be beta tag degrees, recording the current angle of the turntable to be beta ori degrees, and recording the current reading of the encoder to be Aori; firstly, calculating a positioning value M; if the beta ori is less than or equal to the beta tag, calculating the target reading Atag=M of the encoder; if βori > βtag, calculating encoder target reading atag=m+180; and starting the control servo motor to enable the reading of the encoder to reach Atag. The invention can control the rotation angle of the turntable more accurately.
Description
Technical Field
The invention relates to the technical field of turntable positioning, in particular to a turntable rotation control method and a turntable rotation control system based on an encoder.
Background
The turntable is a part commonly used for driving materials to rotate, is widely used in a plurality of fields such as carbon fiber, spinning and the like, and can be used for winding and unwinding the materials through the rotation of the turntable after a clamping rod for placing the materials is additionally arranged on the tray. In some occasions needing to accurately control the winding and unwinding degree, namely, the angle of the turntable, the prior related art generally needs to set scales on the turntable and additionally install a sensor capable of identifying the scales of the turntable to detect and control the angle of the turntable, but the control mode can cause errors in identifying the angle of the turntable due to the processing of the scales, interference of the sensor and other reasons, so that the accuracy of turntable control is poor.
Therefore, a new turntable rotation control method and control system are needed, so that the control of the turntable rotation angle is more accurate.
Disclosure of Invention
The invention provides a turntable rotation control method and a turntable rotation control system based on an encoder, which can effectively solve the problem of poor detection and control accuracy of the existing turntable rotation angle.
The invention provides a turntable rotation control method based on an encoder, which comprises the following steps:
and (3) equipment installation: the turntable and the servo motor with the encoder are installed, so that a rotating shaft of the servo motor is in transmission connection with the turntable; two clamping rods are arranged on the turntable, the two clamping rods are symmetrically arranged on two sides of the axis of the turntable, and the connecting line of the two clamping rods passes through the center of the turntable;
initial debugging: taking a point at the edge of the turntable, which corresponds to one clamping rod, as a mechanical zero point, rotating the turntable to enable the mechanical zero point to rotate to the top end or the bottom end of the turntable, reading the reading of an encoder at the moment as A0, and recording the angle of the turntable at the moment as an initial angle beta 0=0 degree;
and (3) rotation control: before the turntable rotates, setting a target angle to be beta tag degrees, recording the current angle of the turntable to be beta ori degrees, and recording the current reading of the encoder to be Aori;
calculating a positioning value M through a positioning calculation model;
if the beta ori is less than or equal to the beta tag, calculating the target reading Atag=M of the encoder;
if βori > βtag, calculating encoder target reading atag=m+180;
and then the servo motor is controlled to start, so that the reading of the encoder reaches Atag.
Further, in the equipment mounting step, the servo motor rotation shaft and the turntable are connected to each other by a gear transmission manner.
Further, in the equipment mounting step, the rotation directions of the servo motor rotation shaft and the turntable are the same.
Further, in the initial debugging step, the intermediate value of the encoder numerical range is set as an Amid, and a threshold value K is set again, if the value of A0 is not within the interval [ Amid-K, amid+K ], the relative position of the rotating shaft of the servo motor and the turntable needs to be adjusted by returning to the equipment installation step until the value of A0 is within the interval [ Amid-K, amid+K ].
Further, in the initial debugging step, after the turntable is rotated to the initial angle, the turntable is rotated for a plurality of times, so that the rotating angle of each turntable is the same, the reading change of the encoder in a plurality of times of rotation is compared, and if the reading change exceeds the allowable error value range, the positions of the rotating shaft of the servo motor and the turntable are required to be readjusted or replaced until the reading change reaches the allowable error value range.
Further, in the rotation control step, the specific calculation steps of the positioning calculation model are as follows:
if beta tag-beta ori is less than-180, M=beta tag-360+Aori-beta ori;
if-180 is less than or equal to beta tag-beta ori is less than or equal to 180, M=beta tag+Aori-beta ori;
if beta tag-beta ori is more than 180, M=beta tag+360+Aori-beta ori.
Further, the encoder adopts an absolute value encoder.
The invention also provides a turntable rotation control system based on the encoder, which comprises a servo motor with the encoder and a turntable in transmission connection with a rotating shaft of the servo motor, wherein two clamping rods are arranged on the turntable; the control device is used for storing and executing the turntable rotation control method based on the encoder.
By the technical scheme of the invention, the following technical effects can be realized:
according to the method, the encoder is used for corresponding to the rotation angle of the turntable, so that the problems of detecting and controlling the angle of the turntable are converted into the problems of reading and controlling data of the servo motor encoder, the influence of external interference factors on a system can be reduced, and the control accuracy of the system is effectively improved; meanwhile, the method also effectively processes the zero point jumping problem in the encoder through a positioning calculation model, and further ensures the accuracy of turntable rotation control.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings may be obtained according to the drawings without inventive effort to those skilled in the art.
FIG. 1 is a schematic diagram of an encoder-based turntable rotation control system according to the present invention;
FIG. 2 is a flow chart of a method for encoder-based turntable rotation control in accordance with the present invention;
reference numerals: 1. a turntable; 2. a servo motor; 3. an encoder; 4. a clamping rod; 5. and a control device.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
In the description of the present invention, it should be noted that the directions or positional relationships indicated as being "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are directions or positional relationships based on the drawings are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements to be referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; the connection may be direct or indirect via an intermediate medium, or may be internal communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The invention relates to a turntable rotation control method based on an encoder, which is shown in fig. 2 and comprises the following steps:
and (3) equipment installation: the turntable and the servo motor with the encoder are installed, so that a rotating shaft of the servo motor is in transmission connection with the turntable; the encoder adopts a BissC protocol, an Endat2.2 protocol or an SSI protocol; the two clamping rods are arranged on the turntable and are mainly used for placing materials, the two clamping rods are symmetrically arranged on two sides of the axis of the turntable, and the connecting line of the two clamping rods passes through the center of the turntable, so that the difference value of the two clamping rods on the angle position of the turntable is ensured to be 180 degrees;
initial debugging: taking a point at the edge of the turntable, which corresponds to one clamping rod, as a mechanical zero point, rotating the turntable to enable the mechanical zero point to rotate to the top end or the bottom end of the turntable, reading the reading of an encoder at the moment as A0, and recording the angle of the turntable as an initial angle beta 0 = 0 degree, wherein the rotating angle of the turntable can be expressed by the rotating degree of the mechanical zero point in the circumferential direction of the turntable, and the rotating angle range of the turntable is 0 degrees and 360 degrees;
and (3) rotation control: before the turntable rotates, setting a target angle to be beta tag degrees, recording the current angle of the turntable to be beta ori degrees, and recording the current reading of the encoder to be Aori; if it is from the initial state, the current angle of the turntable, β ori=β0=0 degrees, the current reading of the encoder, aori=a0; if the initial state is not started, the current angle beta ori of the rotating disc in the rotation is beta tag degrees, and the current reading Aori of the encoder in the rotation is the target reading Atag of the encoder in the previous rotation;
then calculating a positioning value M through a positioning calculation model;
if the beta ori is less than or equal to the beta tag, calculating the target reading Atag=M of the encoder;
if βori > βtag, calculating encoder target reading atag=m+180;
and then the servo motor is controlled to start, so that the reading of the encoder reaches Atag.
In order to reduce the transmission error between the servomotor shaft and the turntable, it is preferable that the servomotor shaft and the turntable are connected to each other by gear transmission in the equipment mounting step. In order to facilitate the calculation of the correspondence between the servomotor shaft and the turntable, it is preferable that the rotation directions of the servomotor shaft and the turntable are the same in the equipment mounting step.
Because the encoder directly reflects the position of the rotating shaft of the servo motor, a zero point (namely a point where 0 degrees and 360 degrees are overlapped) exists, when the encoder rotates to cross the position, the readings generated by the encoder generate great difference on two sides, and certain influence is generated on calculation; likewise, there is a zero point for the turntable to rotate; if the two zero points coincide, the calculation is greatly affected, so that in the initial debugging step, the intermediate value of the encoder numerical range is preferably set as Amid, the threshold value K is set, if the value of A0 is not in the interval [ Amid-K, amid+K ], the relative positions of the rotating shaft and the turntable of the servo motor are required to be adjusted by returning to the equipment installation step until the value of A0 is in the interval [ Amid-K, amid+K ], and the zero points of the rotating shaft and the zero points of the turntable of the servo motor are staggered.
Preferably, in the initial debugging step, after the turntable is rotated to the initial angle, the turntable is rotated for a plurality of times, so that the rotation angle of the turntable is the same each time, a change value delta is generated when the encoder reads each time, a plurality of delta values are generated when the encoder reads the turntable rotates for a plurality of times, the encoder reads the change in the turntable in comparison with the plurality of times, and if the reading change exceeds an allowable error value range (for example, the variance of the delta exceeds a set value, or the difference between the maximum and minimum values in the delta exceeds the set range, etc.), the positions of the rotating shaft of the servo motor and the turntable need to be readjusted or replaced until the reading change reaches the allowable error value range, so that the uniformity of the encoder on turntable detection is ensured.
In the rotation control step, the specific calculation step of the positioning calculation model is preferably set as follows:
if beta tag-beta ori is less than-180, the rotating disc needs to cross the zero point positively when rotating, and then the rotating disc needs to be compensated positively when calculating, namely M=beta tag-360+Aori-beta ori;
if-180 is less than or equal to beta tag-beta ori is less than or equal to 180, the rotating disc cannot cross the part when rotating, and compensation is not needed, namely M=beta tag+Aori-beta ori;
if beta tag-beta ori is larger than 180, the rotating disc needs to reversely cross the zero point when rotating, and reverse compensation needs to be carried out on the rotating disc when calculating, namely M=beta tag+360+Aori-beta ori.
The encoder is preferably an absolute value encoder, the uniqueness of each position of the absolute encoder is determined by the mechanical position, the absolute value encoder does not need to be memorized, a reference point does not need to be found, the absolute value encoder does not need to count all the time, the position needs to be known, the position is read, and the anti-interference characteristic and the data reliability of the encoder are greatly improved.
The invention also relates to a turntable rotation control system based on an encoder, which is shown in fig. 1 and comprises a servo motor 2 with an encoder 3 and a turntable 1 in transmission connection with a rotating shaft of the servo motor 2, wherein two clamping rods 4 are arranged on the turntable, the two clamping rods 4 are symmetrically arranged on two sides of the axis of the turntable 1, and a connecting line of the two clamping rods 4 passes through the center of the turntable 1; the control device 5 is used for storing and executing the turntable rotation control method based on the encoder, and the specific form of the control device 5 can be electronic equipment such as a computer, a singlechip and the like.
The foregoing has outlined and described the basic principles, features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (4)
1. An encoder-based turntable rotation control method, comprising:
and (3) equipment installation: the turntable and the servo motor with the encoder are installed, so that a rotating shaft of the servo motor is connected with the turntable in a gear transmission mode; two clamping rods are arranged on the turntable, the two clamping rods are symmetrically arranged on two sides of the axis of the turntable, and the connecting line of the two clamping rods passes through the center of the turntable;
initial debugging: taking a point at the edge of the turntable, which corresponds to one clamping rod, as a mechanical zero point, rotating the turntable to enable the mechanical zero point to rotate to the top end or the bottom end of the turntable, reading the reading of an encoder at the moment as A0, and recording the angle of the turntable at the moment as an initial angle beta 0=0 degree;
setting the middle value of the encoder numerical range as Amid, setting a threshold K again, and if the value of A0 is not in the interval [ Amid-K, amid+K ], returning to the equipment installation step to adjust the relative position of the rotating shaft of the servo motor until the value of A0 is in the interval [ Amid-K, amid+K ];
after the turntable is rotated to an initial angle, the turntable is rotated for a plurality of times, so that the rotating angle of the turntable is the same each time, the reading change of the encoder in the plurality of times of rotation is compared, and if the reading change exceeds an allowable error value range, the positions of the rotating shaft of the servo motor and the turntable are required to be readjusted or replaced until the reading change is within the allowable error value range;
and (3) rotation control: before the turntable rotates, setting a target angle to be beta tag degrees, recording the current angle of the turntable to be beta ori degrees, and recording the current reading of the encoder to be Aori;
calculating a positioning value M through a positioning calculation model; the specific calculation steps of the positioning calculation model are as follows:
if beta tag-beta ori is less than-180, M=beta tag-360+Aori-beta ori;
if-180 is less than or equal to beta tag-beta ori is less than or equal to 180, M=beta tag+Aori-beta ori;
if beta tag-beta ori is more than 180, M=beta tag+360+Aori-beta ori;
if the beta ori is less than or equal to the beta tag, calculating the target reading Atag=M of the encoder;
if βori > βtag, calculating encoder target reading atag=m+180;
and then the servo motor is controlled to start, so that the reading of the encoder reaches Atag.
2. The encoder-based turntable rotation control method according to claim 1, wherein in the equipment mounting step, a rotation direction of the servo motor rotation shaft and a rotation direction of the turntable are the same.
3. The encoder-based turntable rotation control method of claim 1, wherein the encoder uses an absolute value encoder.
4. The rotary table rotation control system based on the encoder is characterized by comprising a servo motor with the encoder and a rotary table in transmission connection with a rotary shaft of the servo motor, wherein two clamping rods are arranged on the rotary table; the encoder-based turntable rotation control method according to any one of claims 1 to 3, further comprising a control device for storing and executing the encoder-based turntable rotation control method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310428221.8A CN116639531B (en) | 2023-04-20 | 2023-04-20 | Rotary table rotation control method and system based on encoder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310428221.8A CN116639531B (en) | 2023-04-20 | 2023-04-20 | Rotary table rotation control method and system based on encoder |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116639531A CN116639531A (en) | 2023-08-25 |
| CN116639531B true CN116639531B (en) | 2023-10-03 |
Family
ID=87638874
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310428221.8A Active CN116639531B (en) | 2023-04-20 | 2023-04-20 | Rotary table rotation control method and system based on encoder |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116639531B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0588751A (en) * | 1991-09-26 | 1993-04-09 | Toyoda Mach Works Ltd | Positioning device |
| US5231340A (en) * | 1988-04-20 | 1993-07-27 | Fanuc Ltd. | Servomotor control method |
| US5940105A (en) * | 1996-01-26 | 1999-08-17 | Canon Kabushiki Kaisha | Motor drive controlling method for an image forming apparatus and motor drive controlling apparatus in the image forming apparatus using the method |
| JP2008285043A (en) * | 2007-05-18 | 2008-11-27 | Mitsuba Corp | Vehicle controller |
| CN103034149A (en) * | 2012-11-28 | 2013-04-10 | 河南科技大学 | Turnplate control system and control method thereof |
| CN103697850A (en) * | 2013-12-14 | 2014-04-02 | 中国航空工业集团公司沈阳发动机设计研究所 | SSI (Small Scale Integration) bus turntable angle testing method |
| TW201716209A (en) * | 2015-11-03 | 2017-05-16 | 樺欽機械廠有限公司 | An injection machine's rotational shaft turntable positioning apparatus |
| KR20170082298A (en) * | 2016-01-06 | 2017-07-14 | 김병기 | An absolute position measuring equipment using two absolute encoders and measurement method it using the same |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7633256B2 (en) * | 2005-05-04 | 2009-12-15 | Lexmark International, Inc. | Encoder eccentricity correction for motion control systems |
| TW200943016A (en) * | 2008-04-10 | 2009-10-16 | Wen-Liang Wang | Control system for servo-type location/force detection and operation |
-
2023
- 2023-04-20 CN CN202310428221.8A patent/CN116639531B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5231340A (en) * | 1988-04-20 | 1993-07-27 | Fanuc Ltd. | Servomotor control method |
| JPH0588751A (en) * | 1991-09-26 | 1993-04-09 | Toyoda Mach Works Ltd | Positioning device |
| US5940105A (en) * | 1996-01-26 | 1999-08-17 | Canon Kabushiki Kaisha | Motor drive controlling method for an image forming apparatus and motor drive controlling apparatus in the image forming apparatus using the method |
| JP2008285043A (en) * | 2007-05-18 | 2008-11-27 | Mitsuba Corp | Vehicle controller |
| CN103034149A (en) * | 2012-11-28 | 2013-04-10 | 河南科技大学 | Turnplate control system and control method thereof |
| CN103697850A (en) * | 2013-12-14 | 2014-04-02 | 中国航空工业集团公司沈阳发动机设计研究所 | SSI (Small Scale Integration) bus turntable angle testing method |
| TW201716209A (en) * | 2015-11-03 | 2017-05-16 | 樺欽機械廠有限公司 | An injection machine's rotational shaft turntable positioning apparatus |
| KR20170082298A (en) * | 2016-01-06 | 2017-07-14 | 김병기 | An absolute position measuring equipment using two absolute encoders and measurement method it using the same |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116639531A (en) | 2023-08-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109579880B (en) | Magnetic encoder with adaptive compensation function | |
| US5525885A (en) | Position detecting apparatus and position compensating method therefor | |
| CN111457953A (en) | Automatic calibration detection system and method for rotary encoder | |
| CN109696187B (en) | Eccentric correcting device of rotary encoder | |
| CN111174819B (en) | Zero calibration method, device, product and medium for motor incremental encoder | |
| CN113029222A (en) | Calibration method and device for magnetic encoder and magnetic encoder | |
| CN210165982U (en) | Correcting device for magnetic encoder | |
| CN109217758B (en) | Online identification method for rotary transformer zero point, motor controller and storage medium | |
| WO1994019733A1 (en) | Apparatus and method for driving a leadscrew | |
| CN110673657B (en) | Stable platform angle automatic compensation resolving method | |
| CN111521212A (en) | Magnetic encoder correction system and method, control terminal and readable storage medium | |
| CN116639531B (en) | Rotary table rotation control method and system based on encoder | |
| JP2007064771A (en) | Error correction device for encoder | |
| CN116257092B (en) | Accurate positioning control method and control system for turntable rotation | |
| CN110031024A (en) | A kind of incremental encoder | |
| CN1143797A (en) | Controlling apparatus and method of controlling tracking for tape-shaped recording medium | |
| CN111854824A (en) | Encoder calibration system and control method thereof | |
| US4441178A (en) | Method of correcting a position of a disk record on a turntable | |
| CN112665531B (en) | Multi-pair-level rotation-transformation coordinate transformation angle solving method | |
| CN114001768B (en) | Self-calibration device of magnetoelectric encoder | |
| CN212513104U (en) | Encoder calibration system | |
| CN115811260A (en) | Rotary transformer zero point identification method and device of motor and computer storage medium | |
| CN114739283A (en) | High-precision dual-encoder steering engine angle feedback system and fault monitoring and processing method | |
| CN110165947A (en) | Accuracy evaluation device, appraisal procedure and the assessment system of position detecting device | |
| CN114894238A (en) | Calibration compensation device, system and method for plate-level magnetic encoding |
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 |