CN201858990U - Device for subdividing sine-cosine signals and encoding data of position sensor - Google Patents
Device for subdividing sine-cosine signals and encoding data of position sensor Download PDFInfo
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- CN201858990U CN201858990U CN2010206207012U CN201020620701U CN201858990U CN 201858990 U CN201858990 U CN 201858990U CN 2010206207012 U CN2010206207012 U CN 2010206207012U CN 201020620701 U CN201020620701 U CN 201020620701U CN 201858990 U CN201858990 U CN 201858990U
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Abstract
The utility model provides a device for subdividing sine-cosine signals and encoding data of a position sensor. The device comprises an encoder, a first signal conditioning module, a second signal conditioning module, a first analog-to-digital converter, a second analog-to-digital converter, a first comparator, a second comparator, a third comparator, an FPGA (field programmable gate array) module, a DSP (digital signal processor) module and an output module. Sine-cosine signals output from the encoder are subjected to multiple interpolatory subdivision by the aid of the device, and precision of position signal detection is increased, so that high-resolution control is realized and the cost of the high-precision encoder is reduced.
Description
Technical field
The utility model relates to a kind of detection of encoder output, handles and the device of output, relates in particular to cosine and sine signal to position transducer and segments device with digital coding.
Background technology
Scrambler is the Core Feature parts of measuring system in the digital control system, and its precision has influence on the control accuracy of data set.The development of scrambler is to output to sine and cosine 1Vpp signal/absolute value data output by original increment type square wave, has also developed into the absolute value mode by the increment type mode simultaneously, and resolution is more and more meticulousr, and precision is more and more higher.The output of scrambler sampling square wave formula can not be satisfied the requirement of high precision position and absolute position in early stage numerical control or the measuring system.Along with the development of machine tool industry, the requirement of workpiece and mapping precision is improved constantly, scrambler is had higher requirement.But this scrambler comprises following limitation: square-wave signal has omitted the cosine and sine signal most information, has only got the two states of cosine and sine signal, and its resolution directly is limited by the line number of scrambler; In order to improve the resolution of scrambler, must improve the quantity of the physics groove of scrambler code-disc, this is subject to code-disc diameter and manufacture craft; When improving rotating speed, square wave output type scrambler is because inner monochromatic interference can be more obvious, the frequency of Shu Chu square wave increases simultaneously, frequency spectrum is abundant, requirement to receiving end is increased, so the maximum (top) speed that the scrambler of square wave output can be realized is lower, and this situation is along with the resolution of scrambler is high more and obvious more; Square wave output transmission range is failed nearer, and is optimum general 30 meters, long easily because square wave causes error code to count or do not count in the disappearance of transmission course medium-high frequency part.
The scrambler product of emerging in recent years sine and cosine output is with its precision height, and the subsequent treatment simple and fast more and more widely is used.The scrambler of cosine and sine signal output is the high-precision equilibrium product of high resolving power, compare with square wave formula scrambler, a lot of advantages are arranged: the relative information that comprises for cosine and sine signal, can be by specific interpolation and compensation way, much higher positional information under can obtaining under the situation that does not improve the physics groove than square wave situation; Under the situation of identical mathematics resolution, the physics groove lacks a lot than square wave formula output coder, thereby the scrambler rotating speed can improve greatly; The Frequency spectrum ratio of the scrambler output of cosine and sine signal output is more single, and seldom the special composition of frequency spectrum is compared with the scrambler of square wave output, and the decay when the output distance of its signal is less, and the distance of output is far away.Therefore the scrambler of cosine and sine signal output provides condition for high Precision Detection, becomes the indispensable equipment in the high-precision control field.But it is big that its cost is a technical difficulty, only grasped by world major company of a few family now, and its high-precision encoder price at home is very high.
Domestic like product present situation: the product of just developing similar functions by Dalian Guangyang Science ﹠ Technology Engineering Co., Ltd.Its number of patent application be 200910188342.x's " high speed sine and cosine subdividing device " be the product of said function.But on method, its algorithm is fairly simple, and its algoritic module is just finished by FPGA simply.This point seems, and method is single, and the compensation way difficulty is difficult to carry out more complicated calculating, is not easy to the multiple scrambler of fast adaptation.The essence of this patent is to carry out error correction by look-up table.Its number of patent application is that 200910188345.3 " precision compensation system of sine-cosine output type encoder " and number of patent application are the content of 200910188341.5 " on-line actual error compensation system of sine and cosine encoder ", the detection means for correcting and the method that match with the former exactly.At specific scrambler, carry out a series of measurement, error is compensated and corrected, be kept in its subdividing device.But its adaptability and practicality are undesirable, are difficult to quick widespread use.
The utility model content
The purpose of this utility model is to overcome the shortcoming of prior art with not enough, provides a kind of cosine and sine signal to position transducer to segment device with digital coding.This device carries out many times of interpolation subdividings with the cosine and sine signal of scrambler output, improves the position signalling accuracy of detection to realize high resolution control by high-speed computation, reduces the cost of high-precision encoder.
In order to achieve the above object, the utility model is by the following technical solutions: the cosine and sine signal of position transducer is segmented device with digital coding, specifically comprise:
Scrambler is used to export the sinusoidal differential signal of 1Vpp, cosine differential signal and all signals of 1Vpp;
The first signal condition module is used for handling from the sinusoidal differential signal of the 1Vpp of scrambler output, the noise of its input of filtering, and signal carried out 2 times of amplifications;
The secondary signal conditioning module is used for the 1Vpp cosine differential signal from scrambler output is handled, the noise of its input of filtering, and signal carried out 2 times of amplifications;
First analog to digital converter is used for the sinusoidal differential signal that comes out from the first signal condition module is carried out high-speed sampling;
Second analog to digital converter is used for the cosine differential signal that comes out from the secondary signal conditioning module is carried out high-speed sampling;
First comparer is used for the cosine differential signal shaping with scrambler, becomes the zero-crossing pulse signal;
Second comparer is used for the sinusoidal differential signal shaping with scrambler, becomes the zero-crossing pulse signal;
The 3rd comparer is used for all signals are carried out shaping, produces a pulse signal;
The FPGA module is used for the signal of exporting from first comparer, second comparer, the 3rd comparer, first analog to digital converter and second analog to digital converter is carried out pre-service and the absolute segmentation positional value of exporting from the DSP module is carried out the digital coding processing;
The DSP module is used for the data of exporting from the FPGA module are compensated and calculate;
Output module, the serial data that is used for that the FPGA module is exported carry out data output;
The sinusoidal signal output terminal of described scrambler is connected with the first signal condition module with second comparer respectively, the sinusoidal zero-crossing pulse signal output part of described second comparer is connected with the FPGA module, the described first signal condition module is connected with first analog to digital converter, first analog to digital converter the signal output part of sinusoidal data be connected with the FPGA module;
Described sinusoidal data is 14 sinusoidal datas or 12 sinusoidal datas;
The cosine signal output terminal of described scrambler is connected with the secondary signal conditioning module with first comparer respectively, the cosine zero-crossing pulse signal output part of described first comparer is connected with the FPGA module, described secondary signal conditioning module is connected with second analog to digital converter, and the signal output part of the cosine data of second analog to digital converter is connected with the FPGA module;
Described cosine data are 14 cosine data or 12 cosine data;
One all signal output parts of described scrambler are connected with the 3rd comparer, and all signal pulse signal output parts of the 3rd comparer are connected with the FPGA module;
Described FPGA module is connected with output module with the DSP module respectively.
Described FPGA module specifically comprises: data preprocessing module, data coding module and controlling of sampling module, the preprocessed data output terminal of described data preprocessing module and being connected of DSP module, the positional value output terminal of described DSP module is connected with data coding module, and the serial data output terminal of data coding module links to each other with output module, and described controlling of sampling module is connected with second analog to digital converter with first analog to digital converter.
A kind of implementation method of the device to cosine and sine signal segmentation and digital coding, its concrete steps comprise:
(1) from scrambler, exports the sinusoidal differential signal of 1Vpp, cosine differential signal and all signals of 1Vpp respectively;
(2) sinusoidal differential signal enters first comparer and the first signal condition module respectively, in first comparer, carry out producing sinusoidal zero-crossing pulse signal after the signal Processing, and be transported in the FPGA module, the offset of sinusoidal differential signal carries out filtering and arrangement in the first signal condition module, remove the many noises that produce in the transmission path, and be transported to first analog to digital converter after signal amplified 2 times, the signal that first analog to digital converter is continuously sent here the first signal condition module under the control of FPGA module carries out high-speed sampling, and with high-speed sampling to sinusoidal data be transported in the FPGA module; The cosine differential signal enters second comparer and secondary signal conditioning module respectively, in second comparer, carry out producing cosine zero-crossing pulse signal after the signal Processing, and be transported in the FPGA module, in the secondary signal conditioning module, the cosine differential signal is carried out filtering and arrangement, remove the many noises that produce in the transmission path, and be transported to second analog to digital converter after signal amplified 2 times, the signal that second analog to digital converter is continuously sent here the secondary signal conditioning module under the control of FPGA module carries out high-speed sampling, and with high-speed sampling to the cosine data delivery in the FPGA module; One all signals enter in the 3rd comparer and to produce all signal pulse signals and be transported in the FPGA module;
(3) the FPGA module is carried out pre-service to sinusoidal zero-crossing pulse signal, cosine zero-crossing pulse signal, sinusoidal data, cosine data and all signal pulse signals of its input in its data preprocessing module, and pretreated signal or data are transported to by data bus carry out compensation data and calculating in the DSP module;
(4) in the DSP module compensation with calculate an absolute segmentation positional value, positional value is transported in the data coding module in the FPGA module carries out digital coding;
(5) carry out digital coding in the data coding module in the FPGA module and finish after, according to the output of in output module, encoding of selected bus protocol.
Compensation data and calculating in the described step (3) may further comprise the steps:
(3-1) the DSP module is carried out progression to the calculating from sinusoidal zero-crossing pulse signal, cosine zero-crossing pulse signal and all signal pulse signals of FPGA module input, obtains the interval position of current location;
(3-2) the DSP module is handled sinusoidal data and the cosine data imported from the FPGA module, calculates by the DSP module, obtains the angle at current sinusoidal data and cosine data place through tabling look-up again, when tabling look-up the position is compensated correction;
(3-3) will the table look-up angle of the sinusoidal data that obtains and cosine data of DSP module changes into the position of the concrete segmentation of current location in interval position;
(3-4) the DSP module merges the segmentation position in interval position and the interval position, the offset with respect to all signals place after the segmentation that obtains being asked;
(3-5) the DSP module merges the offset that obtains and the counting of all signal pulse signals, draws absolute segmentation positional value;
(3-6) the DSP module absolute segmentation positional value that will obtain sends the data coding module in the FPGA module to.
The sampling rate of the high-speed sampling in the described step (2) is by selecting between 200kHz～80MHz.
The sampling rate of the high-speed sampling in the described step (2) is 20MHz.
Data pre-service in the described step (3) comprises carries out filtering respectively to sinusoidal data of being sent here by analog to digital converter in the FPGA module and cosine data, and flows to the DSP module after the data of handling well are merged into 32 place values.
The utility model has following advantage and effect with respect to prior art:
(1) the utility model can be from the two paths of differential signals of scrambler output, carrying out filtering by the signal condition module amplifies, with interference attenuation and the removal that imports in the transmission path, obtain being suitable for the signal of real simulated more of analog to digital converter input, these signals can truly reflect the physical location indication of scrambler.
(2) the high frequency sampling of the utility model analog to digital converter can obtain more information under the situation that scrambler runs up, and native system has adopted the AD sampling rate of 20M level, and the sine and cosine output frequency of most of scramblers has surpassed 250kHz in the prior art.
(3) the utility model can satisfy the sine and cosine encoder of most producers, and the sine and cosine encoder of most producers all can be connected on this device and go up use.
(4) the utility model can carry out synchronized sampling, accurately catches the instantaneous value of certain cosine and sine signal constantly, improves accuracy of detection.
(5) the utility model can carry out noise remove by wave filter with the signal of importing in the FPGA module, improves data and reads in degree of accuracy, and FPGA inside modules wave filter is parallel running, and speed is that alternate manner (such as dsp software filtering) is incomparable.
(6) the utility model adopts the DSP module to carry out accurate position calculation.
(7) the utility model adapts to various types of scramblers by the self study process.
Description of drawings
To be the utility model segment structural representation with the device of digital coding to the cosine and sine signal of position transducer to Fig. 1;
Fig. 2 is described FPGA modular structure of the utility model device and data processing synoptic diagram;
Fig. 3 is a DSP module data processing flow chart described in the utility model.
Embodiment
Below in conjunction with embodiment and accompanying drawing the utility model is described in further detail, but embodiment of the present utility model is not limited thereto.
Embodiment 1
The utility model segments device with digital coding to the cosine and sine signal of position transducer, as shown in Figure 1, specifically comprises:
Scrambler is used to export the sinusoidal differential signal of 1Vpp, cosine differential signal and all signals of 1Vpp;
The first signal condition module is used for handling from the sinusoidal differential signal of the 1Vpp of scrambler output, the noise of its input of filtering, and signal carried out 2 times of amplifications;
The secondary signal conditioning module is used for the 1Vpp cosine differential signal from scrambler output is handled, the noise of its input of filtering, and signal carried out 2 times of amplifications;
First analog to digital converter is used for the sinusoidal differential signal that comes out from the first signal condition module is carried out high-speed sampling;
Second analog to digital converter is used for the cosine differential signal that comes out from the secondary signal conditioning module is carried out high-speed sampling;
First comparer is used for the cosine differential signal shaping with scrambler, becomes the zero-crossing pulse signal;
Second comparer is used for the sinusoidal differential signal shaping with scrambler, becomes the zero-crossing pulse signal;
The 3rd comparer is used for all signals are carried out shaping, produces a pulse signal;
The FPGA module is used for the signal of exporting from first comparer, second comparer, the 3rd comparer, first analog to digital converter and second analog to digital converter is carried out pre-service and the absolute segmentation positional value of exporting from the DSP module is carried out the digital coding processing;
The DSP module is used for the data of exporting from the FPGA module are compensated and calculate;
Output module, the serial data that is used for that the FPGA module is exported carry out data output;
The sinusoidal signal output terminal of described scrambler is connected with the first signal condition module with second comparer respectively, the sinusoidal zero-crossing pulse signal output part of described second comparer is connected with the FPGA module, the described first signal condition module is connected with first analog to digital converter, and the signal output part of the sinusoidal data of first analog to digital converter is connected with the FPGA module;
Described sinusoidal data is 14 sinusoidal datas or 12 sinusoidal datas;
The cosine signal output terminal of described scrambler is connected with the secondary signal conditioning module with first comparer respectively, the cosine zero-crossing pulse signal output part of described first comparer is connected with the FPGA module, described secondary signal conditioning module is connected with second analog to digital converter, and the signal output part of the cosine data of second analog to digital converter is connected with the FPGA module;
Described cosine data are 14 cosine data or 12 cosine data;
One all signal output parts of described scrambler are connected with the 3rd comparer, and all signal pulse signal output parts of the 3rd comparer are connected with the FPGA module;
Described FPGA module is connected with output module with the DSP module respectively.
Described FPGA module specifically comprises: data preprocessing module, data coding module and controlling of sampling module, the preprocessed data output terminal of described data preprocessing module and being connected of DSP module, the positional value output terminal of described DSP module is connected with data coding module, and the serial data output terminal of data coding module links to each other with output module, described controlling of sampling module is connected with second analog to digital converter with first analog to digital converter, as shown in Figure 2.
Embodiment 2
By in conjunction with the device among Fig. 1, specifically implement as follows:
1. the first signal condition module and secondary signal conditioning module are the adjustment circuit of two kinds of signals of sine and cosine, adopt difference input mode and difference to output to first analog to digital converter and second analog to digital converter, guarantee signal to capability of restraining noise by hardware, realize the accurate transmission and the detection of signal.The first signal condition module and secondary signal conditioning module are transported to first analog to digital converter and second analog to digital converter after the 1Vpp cosine and sine signal of scrambler is amplified 2 times.Wherein the first signal condition module and secondary signal conditioning module all adopt high precision (entirely) differential operational amplifier.
2. carry out the cosine and sine signal of signal condition by the first signal condition module and secondary signal conditioning module, through being input in first analog to digital converter and second analog to digital converter after the skew.First analog to digital converter and second analog to digital converter use high sampling rate (being not less than 2M), and for the sampling of sin/cos two paths of signals, requiring analog to digital converter is synchronized sampling.The sampling precision that this example adopts is that 12 or 14 potential difference sub-signals are imported first analog to digital converter and second analog to digital converter, to improve sampling precision.
3. first analog to digital converter and second analog to digital converter are input to every road signal in the FPGA module.The FPGA module is carried out filtering with every road signal in its data preprocessing module, filtering mode can be FIR, IIR, CIC, and other filtering mode.
4.FPGA the data that module obtains after with the filtering of every road are extended to 16 place values.16 the value of being extended to that will obtain synchronously then is spliced into 32 place values, then it is delivered in the DSP module, and be the flow chart of data processing of DSP inside modules as Fig. 3.
5.DSP module adopts 32 high-speed floating point operand word signal processors.
6.DSP 32 place values that module obtains are the instantaneous value of sine/cosine signals, have passed through preliminary filtering.Consider different movement velocitys, need carry out Filtering Processing with software to the value that obtains once more according to speed.
7.DSP the data of module after according to software filtering are calculated the dc-bias of cosine and sine signal, amplitude size and phase pushing figure.
8.DSP module is carried out the direct current biasing compensation according to the value in 7 steps to the sine and cosine data, amplitude compensation and phase deviation compensation obtain revised sine and cosine value.
9.DSP module is calculated angle according to revised sine and cosine value, obtains segmenting angle.
10. first comparer and second comparer carry out shaping to cosine zero cross signal and two kinds of signals of sinusoidal zero cross signal respectively, the output square-wave pulse signal.
11. sinusoidal zero cross signal and cosine zero cross signal two pulse signals are fed in the FPGA module, by FPGA module differential coding device direction of motion, and scrambler is carried out complete cycle count.This count value is fed in the DSP module.
Move the signal that occurs in the week once 12. the square-wave signal of all signals of the 3rd comparer output is a scrambler, other signal is played benchmark guide.The square-wave pulse signal of this all signal outputs in the FPGA module.
13.FPGA module is counted the square-wave pulse signal of all signals, is sent in the DSP module.
14.FPGA in, the zero clearing of all signal pulse signal offset of sinusoidal zero cross signals and cosine zero cross signal two pulse signals counter.
15.DSP module with complete cycle counted number of pulses read in, carry out angle calculation complete cycle.
16.DSP module with complete cycle angle value and 9) summation of the segmentation angle that draws, obtain angle and.
17.DSP module is according to angle and calculate positional value, is the current present position of scrambler.
18.DSP module is sent back to the FPGA module with the current location of the scrambler that obtains.
19.FPGA module is encoded the current location of scrambler, and exports by bus mode.
The foregoing description is the utility model preferred implementation; but embodiment of the present utility model is not restricted to the described embodiments; other any do not deviate from change, the modification done under spirit of the present utility model and the principle, substitutes, combination, simplify; all should be the substitute mode of equivalence, be included within the protection domain of the present utility model.
Claims (2)
1. the cosine and sine signal of position transducer is segmented device with digital coding, it is characterized in that described device specifically comprises:
Scrambler is used to export the sinusoidal differential signal of 1Vpp, cosine differential signal and all signals of 1Vpp;
The first signal condition module is used for handling from the sinusoidal differential signal of the 1Vpp of scrambler output, the noise of its input of filtering, and signal carried out 2 times of amplifications;
The secondary signal conditioning module is used for the 1Vpp cosine differential signal from scrambler output is handled, the noise of its input of filtering, and signal carried out 2 times of amplifications;
First analog to digital converter is used for the sinusoidal differential signal that comes out from the first signal condition module is carried out high-speed sampling;
Second analog to digital converter is used for the cosine differential signal that comes out from the secondary signal conditioning module is carried out high-speed sampling;
First comparer is used for the cosine differential signal shaping with scrambler, becomes the zero-crossing pulse signal;
Second comparer is used for the sinusoidal differential signal shaping with scrambler, becomes the zero-crossing pulse signal;
The 3rd comparer is used for all signals are carried out shaping, produces a pulse signal;
The FPGA module is used for the signal of exporting from first comparer, second comparer, the 3rd comparer, first analog to digital converter and second analog to digital converter is carried out pre-service and the absolute segmentation positional value of exporting from the DSP module is carried out the digital coding processing;
The DSP module is used for the data of exporting from the FPGA module are compensated and calculate;
Output module, the serial data that is used for that the FPGA module is exported carry out data output;
The sinusoidal signal output terminal of described scrambler is connected with the first signal condition module with second comparer respectively, the sinusoidal zero-crossing pulse signal output part of described second comparer is connected with the FPGA module, the described first signal condition module is connected with first analog to digital converter, first analog to digital converter the signal output part of sinusoidal data be connected with the FPGA module;
The cosine signal output terminal of described scrambler is connected with the secondary signal conditioning module with first comparer respectively, the cosine zero-crossing pulse signal output part of described first comparer is connected with the FPGA module, described secondary signal conditioning module is connected with second analog to digital converter, and the signal output part of the cosine data of second analog to digital converter is connected with the FPGA module;
One all signal output parts of described scrambler are connected with the 3rd comparer, and all signal pulse signal output parts of the 3rd comparer are connected with the FPGA module;
Described FPGA module is connected with output module with the DSP module respectively.
2. the cosine and sine signal to position transducer according to claim 1 segments the device with digital coding, it is characterized in that, described FPGA module specifically comprises: data preprocessing module, data coding module and controlling of sampling module, the preprocessed data output terminal of described data preprocessing module and being connected of DSP module, the positional value output terminal of described DSP module is connected with data coding module, and the serial data output terminal of data coding module links to each other with output module, and described controlling of sampling module is connected with second analog to digital converter with first analog to digital converter.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103335587A (en) * | 2013-07-02 | 2013-10-02 | 潍柴动力股份有限公司 | Online checking method and device for position sensor |
| CN105823442A (en) * | 2016-04-14 | 2016-08-03 | 北京航天发射技术研究所 | Method for angle measurement through coded disc signal subdivision and photoelectric collimator |
| CN106625020A (en) * | 2017-02-27 | 2017-05-10 | 张道勇 | Incremental magnetic induction bus type encoder for high-speed high-precision machine tool main shaft and electric main shaft |
| CN108107232A (en) * | 2017-11-06 | 2018-06-01 | 武汉航空仪表有限责任公司 | A kind of digitizing solution of angle signal |
| CN108204830A (en) * | 2017-11-28 | 2018-06-26 | 珠海格力节能环保制冷技术研究中心有限公司 | The compensation method of phase deviation and device |
| CN110836677A (en) * | 2019-11-21 | 2020-02-25 | 苏州灵猴机器人有限公司 | Analog encoder calibration method |
| CN111256744A (en) * | 2020-02-27 | 2020-06-09 | 苏州海之博电子科技有限公司 | Calibration method of linear output position sensor |
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2010
- 2010-11-23 CN CN2010206207012U patent/CN201858990U/en not_active Expired - Lifetime
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103335587A (en) * | 2013-07-02 | 2013-10-02 | 潍柴动力股份有限公司 | Online checking method and device for position sensor |
| CN103335587B (en) * | 2013-07-02 | 2016-06-08 | 潍柴动力股份有限公司 | A kind of position sensor on-line testing method and apparatus |
| CN105823442A (en) * | 2016-04-14 | 2016-08-03 | 北京航天发射技术研究所 | Method for angle measurement through coded disc signal subdivision and photoelectric collimator |
| CN106625020A (en) * | 2017-02-27 | 2017-05-10 | 张道勇 | Incremental magnetic induction bus type encoder for high-speed high-precision machine tool main shaft and electric main shaft |
| CN106625020B (en) * | 2017-02-27 | 2019-05-21 | 张道勇 | High speed and super precision machine tool chief axis, electro spindle incremental magnetic induction type bus type encoder |
| CN108107232A (en) * | 2017-11-06 | 2018-06-01 | 武汉航空仪表有限责任公司 | A kind of digitizing solution of angle signal |
| CN108204830A (en) * | 2017-11-28 | 2018-06-26 | 珠海格力节能环保制冷技术研究中心有限公司 | The compensation method of phase deviation and device |
| CN108204830B (en) * | 2017-11-28 | 2019-08-06 | 珠海格力电器股份有限公司 | The compensation method of phase deviation and device |
| CN110836677A (en) * | 2019-11-21 | 2020-02-25 | 苏州灵猴机器人有限公司 | Analog encoder calibration method |
| CN111256744A (en) * | 2020-02-27 | 2020-06-09 | 苏州海之博电子科技有限公司 | Calibration method of linear output position sensor |
| CN111256744B (en) * | 2020-02-27 | 2021-06-29 | 苏州海之博电子科技有限公司 | Calibration method of linear output position sensor |
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