CN117150830B - Oval correction method for SinCos position encoder - Google Patents
Oval correction method for SinCos position encoder Download PDFInfo
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- CN117150830B CN117150830B CN202311425454.9A CN202311425454A CN117150830B CN 117150830 B CN117150830 B CN 117150830B CN 202311425454 A CN202311425454 A CN 202311425454A CN 117150830 B CN117150830 B CN 117150830B
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- 238000004364 calculation method Methods 0.000 claims description 3
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
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- 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2111/00—Details relating to CAD techniques
- G06F2111/10—Numerical modelling
Abstract
The invention discloses a SinCos position encoder ellipse correction method, which comprises the following steps: s1, data acquisition; s2, constructing an RPS model, and using the constructed RPS model to represent the output signal of the position encoder as the difference between positive and negative components of a cosine signal and a sine signal, and deducing a rotation position; s3, ellipse error analysis: analyzing an elliptical error of the output signal of the position encoder through an RPS model; s4, calculating correction parameters: based on the result of the elliptical error analysis, calculating corresponding correction parameters; s5, correction implementation: applying the calculated correction parameters to an actual position encoder system; s6, evaluating correction effect: the corrected position encoder system is evaluated. By adopting the SinCos position encoder ellipse correction method, the position measurement precision is effectively improved, the periodic fluctuation of position errors is reduced, and the system stability and control performance are improved.
Description
Technical Field
The invention relates to the technical field of motor detection, in particular to an ellipse correction method of a SinCos position encoder.
Background
In motor control, it is very important to accurately measure the angle of the motor rotor. The prior art generally uses a SinCos position encoder to measure the angle of the motor rotor and converts it into a digital signal for use by the control system.
However, due to manufacturing and installation errors, etc., there may be errors in the output signal of the SinCos position encoder, wherein elliptical errors are a common type of error. The elliptical error means that the deviation between the position encoder output signal and the actual rotor angle presents an elliptical shape, reducing the accuracy and stability of the measurement.
Disclosure of Invention
In order to solve the problems, the invention provides a SinCos position encoder ellipse correction method, which calculates an ellipse actual center point through a differential output RPS model, compares an output signal of a position encoder with the calculated ellipse actual center point, calculates rotation, translation and scaling parameters to obtain the accurate position and posture of an object, effectively improves the position measurement precision, reduces the periodic fluctuation of position errors, improves the system stability and the control performance, and is more obvious in high-precision and high-speed application of a motor.
In order to achieve the above object, the present invention provides a method for correcting ellipse of SinCos position encoder, comprising the steps of:
s1, data acquisition: collecting a series of output signals of the position encoders;
s2, constructing an RPS model: constructing an RPS model for describing the relation between the output signal of the position encoder and the actual rotation position based on the acquired output signal, and using the constructed RPS model to represent the output signal of the position encoder as components of cosine signals and sine signals in the directions of an x axis and a y axis, and deducing the rotation position;
s3, ellipse error analysis: analyzing an elliptical error of the output signal of the position encoder through an RPS model;
s4, calculating correction parameters: based on the result of the elliptical error analysis, calculating corresponding correction parameters;
s5, correction implementation: applying the calculated correction parameters to an actual position encoder system to correct the position encoder system;
s6, evaluating correction effect: the corrected position encoder system is evaluated to verify the effect of the correction.
Preferably, the output signal in step S1 includes a rotation position and a SinCos signal value corresponding to the rotation position.
Preferably, the expression of the RPS model in step S2 is as follows:
；
；
wherein θ represents the rotational position, and x and y represent the components of the position encoder output signal in the x-axis and y-axis directions, respectively;、/>、/>、/>all are parameters of the model, and the specific meanings are as follows:
: amplitude of the cosine signal in the x-axis direction;
: the amplitude of the sinusoidal signal in the x-axis direction;
: an offset of the cosine signal in the x-axis direction;
: an offset of the sinusoidal signal in the x-axis direction;
ideally, the sincos encoder outputs x, y magnitudes of the signal:
；
offset amount:
；
the method comprises the following steps:
；
；
；
；
wherein,representing the combined amplitude of the position encoder output signal in x and y directions,/for the position encoder output signal>And->Respectively represent the synthesized amplitude +>Is a minimum and a maximum of (a).
Preferably, the step S3 specifically includes the following steps:
in an actual state, the amplitude and offset errors exist in the output signal of the sincos encoder, and the amplitude and offset in the x and y directions of the output signal of the position encoder are analyzed through an RPS model to judge whether the amplitude and offset errors are equal to the value in an ideal state.
Preferably, the step S4 specifically includes the following steps:
and (3) calculating correction parameters: based on the result of the elliptical error analysis, calculating corresponding correction parameters for correcting the output signal of the position encoder to reduce the elliptical error; the compensation coefficient is calculated as follows:
；
；
；
；
；
wherein,、/>for the offset compensation coefficient +>、/>Is the actual amplitude of x, y, +.>、/>、/>、/>Maximum and minimum values of x, y, respectively,/->And compensating the coefficient for the amplitude of y.
Preferably, the step S5 specifically includes the following steps:
the calculated correction parameters are applied to an actual position encoder system, and the actual calculation formulas of the compensated x and y are as follows:
；
；
wherein:and->Representing the actual components of the position encoder output signal in the x-axis and y-axis directions, respectively.
The invention has the following beneficial effects:
the position measurement precision can be effectively improved, the periodic fluctuation of position errors is reduced, and the stability and control performance of the system are improved.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
FIG. 1 is a flow chart of a SinCos position encoder ellipse correction method according to the present invention;
FIG. 2 is a schematic diagram of the maximum and minimum values of the sinusoidal signal according to an embodiment of the present invention;
FIG. 3 is a graph of the extraction process of sin and cos compensation amounts according to an embodiment of the present invention;
FIG. 4 is a graph of Sin, cos, A prior to RPS compensation of an embodiment of the present invention;
FIG. 5 is an elliptic graph before RPS compensation according to an embodiment of the present invention;
FIG. 6 is a graph of Sin, cos, A after RPS compensation in accordance with an embodiment of the present invention;
FIG. 7 is an elliptic graph after RPS compensation according to an embodiment of the present invention;
fig. 8 is a comparison of the RPS compensation before and after the RPS compensation according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the detailed description and specific examples, while indicating the embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present application based on the embodiments herein. Examples of the embodiments are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements throughout or elements having like or similar functionality.
It should be noted that the terms "comprises" and "comprising," along with any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "upper", "lower", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or those that are conventionally put in use, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements to be referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be 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.
In order to improve the accuracy and stability of position measurement, the invention introduces an ellipse correction technique, aiming at eliminating or reducing ellipse errors by carrying out mathematical processing and correction on the output signals of the position encoder.
The ellipse correction technique involves the following aspects:
1. error analysis: error sources of the SinCos position encoder were analyzed, including manufacturing errors, assembly errors, sensor non-linearity errors, and the like.
2. Mathematical model: mathematical models are developed to describe the characteristics and influencing factors of the elliptical errors.
3. Correction algorithm: an ellipse correction algorithm is researched and developed to eliminate or reduce the ellipse error by performing mathematical processing and correction on the position encoder output signal.
4. And (3) experimental verification: and (5) performing experimental verification and evaluating the effect and performance of the ellipse correction algorithm.
The invention is designed based on the above concept: as shown in fig. 1-8, a SinCos position encoder ellipse correction method includes the steps of:
s1, data acquisition: collecting a series of output signals of the position encoders;
preferably, the output signal in step S1 includes a rotation position and a SinCos signal value corresponding to the rotation position.
S2, constructing an RPS model: constructing an RPS model for describing the relation between the output signal of the position encoder and the actual rotation position based on the acquired output signal, and using the constructed RPS model to represent the output signal of the position encoder as components of cosine signals and sine signals in the directions of an x axis and a y axis, and deducing the rotation position;
preferably, the expression of the RPS model in step S2 is as follows:
；
；
wherein θ represents a rotational position, and x and y represent position codes, respectivelyComponents of the output signal in the x-axis and y-axis directions;、/>、/>、/>all are parameters of the model, and the specific meanings are as follows:
: amplitude of the cosine signal in the x-axis direction;
: the amplitude of the sinusoidal signal in the x-axis direction;
: an offset of the cosine signal in the x-axis direction;
: an offset of the sinusoidal signal in the x-axis direction;
ideally, the sincos encoder outputs x, y magnitudes of the signal:
；
offset amount:
；
the method comprises the following steps:
；
；
；
；
wherein,representing the combined amplitude of the position encoder output signal in x and y directions,/for the position encoder output signal>And->Respectively represent the synthesized amplitude +>Is a minimum and a maximum of (a).
S3, ellipse error analysis: analyzing an elliptical error of the output signal of the position encoder through an RPS model;
preferably, the step S3 specifically includes the following steps:
in an actual state, the amplitude and offset errors exist in the output signal of the sincos encoder, and the amplitude and offset in the x and y directions of the output signal of the position encoder are analyzed through an RPS model to judge whether the amplitude and offset errors are equal to the value in an ideal state.
S4, calculating correction parameters: based on the result of the elliptical error analysis, calculating corresponding correction parameters;
preferably, the step S4 specifically includes the following steps:
and (3) calculating correction parameters: based on the result of the elliptical error analysis, calculating corresponding correction parameters for correcting the output signal of the position encoder to reduce the elliptical error; the compensation coefficient is calculated as follows:
；
；
；
；
；
wherein,、/>for the offset compensation coefficient +>、/>Is the actual amplitude of x, y, +.>、/>、/>、/>Maximum and minimum values of x, y, respectively,/->And compensating the coefficient for the amplitude of y.
S5, correction implementation: applying the calculated correction parameters to an actual position encoder system to correct the position encoder system so as to reduce elliptical errors;
preferably, the step S5 specifically includes the following steps:
the calculated correction parameters are applied to an actual position encoder system, and the actual calculation formulas of the compensated x and y are as follows:
；
；
wherein:and->Representing the actual components of the position encoder output signal in the x-axis and y-axis directions, respectively.
S6, evaluating correction effect: the corrected position encoder system is evaluated to verify the correction effect.
In this embodiment the corrected position measurement accuracy and stability can be evaluated by comparison with a reference signal or other accurate measurement method.
Therefore, the oval correction method of the SinCos position encoder effectively improves the position measurement precision, reduces the periodic fluctuation of position errors and improves the stability and control performance of the system.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention and not for limiting it, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that: the technical scheme of the invention can be modified or replaced by the same, and the modified technical scheme cannot deviate from the spirit and scope of the technical scheme of the invention.
Claims (5)
1. A SinCos position encoder ellipse correction method is characterized in that: the method comprises the following steps:
s1, data acquisition: collecting a series of output signals of the position encoders;
s2, constructing an RPS model: constructing an RPS model for describing the relation between the output signal of the position encoder and the actual rotation position based on the acquired output signal, and using the constructed RPS model to represent the output signal of the position encoder as components of cosine signals and sine signals in the directions of an x axis and a y axis, and deducing the rotation position;
the RPS model expression described in step S2 is as follows:
；
；
wherein θ represents the rotational position, and x and y represent the components of the position encoder output signal in the x-axis and y-axis directions, respectively;、/>、/>、/>all are parameters of the model, and the specific meanings are as follows:
: amplitude of the cosine signal in the x-axis direction;
: the amplitude of the sinusoidal signal in the x-axis direction;
: an offset of the cosine signal in the x-axis direction;
: an offset of the sinusoidal signal in the x-axis direction;
ideally, the sincos encoder outputs x, y magnitudes of the signal:
；
offset amount:
；
the method comprises the following steps:
；
；
；
；
wherein the method comprises the steps of，Representing the combined amplitude of the position encoder output signal in x and y directions,/for the position encoder output signal>And->Respectively represent the synthesized amplitude +>Minimum and maximum values of (2);
s3, ellipse error analysis: analyzing an elliptical error of the output signal of the position encoder through an RPS model;
s4, calculating correction parameters: based on the result of the elliptical error analysis, calculating corresponding correction parameters;
s5, correction implementation: applying the calculated correction parameters to an actual position encoder system to correct the position encoder system;
s6, evaluating correction effect: the corrected position encoder system is evaluated to verify the effect of the correction.
2. The method for oval correction of a SinCos position encoder as claimed in claim 1, wherein: the output signal in step S1 includes a rotation position and a SinCos signal value corresponding to the rotation position.
3. The method for oval correction of a SinCos position encoder as claimed in claim 1, wherein: the step S3 specifically comprises the following steps:
in an actual state, the amplitude and offset errors exist in the output signal of the sincos encoder, and the amplitude and offset in the x and y directions of the output signal of the position encoder are analyzed through an RPS model to judge whether the amplitude and offset errors are equal to the value in an ideal state.
4. The method for oval correction of a SinCos position encoder as claimed in claim 1, wherein: the step S4 specifically comprises the following steps:
and (3) calculating correction parameters: based on the result of the elliptical error analysis, calculating corresponding correction parameters for correcting the output signal of the position encoder to reduce the elliptical error; the compensation coefficient is calculated as follows:
；
；
；
；
；
wherein,、/>for the offset compensation coefficient +>、/>Is the actual amplitude of x, y, +.>、/>、/>、Maximum and minimum values of x, y, respectively,/->And compensating the coefficient for the amplitude of y.
5. The method for oval correction of a SinCos position encoder as claimed in claim 4, wherein: the step S5 specifically comprises the following steps:
the calculated correction parameters are applied to an actual position encoder system, and the actual calculation formulas of the compensated x and y are as follows:
；
；
wherein:and->Representing the actual components of the position encoder output signal in the x-axis and y-axis directions, respectively.
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|---|---|---|---|---|
| CN104838236A (en) * | 2012-11-14 | 2015-08-12 | 包米勒公司 | Method for calibrating a rotary encoder |
| US10382799B1 (en) * | 2018-07-06 | 2019-08-13 | Capital One Services, Llc | Real-time synthetically generated video from still frames |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104838236A (en) * | 2012-11-14 | 2015-08-12 | 包米勒公司 | Method for calibrating a rotary encoder |
| US10382799B1 (en) * | 2018-07-06 | 2019-08-13 | Capital One Services, Llc | Real-time synthetically generated video from still frames |
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