JP6037881B2 - 位置検出器の精度補正方法 - Google Patents
位置検出器の精度補正方法 Download PDFInfo
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- JP6037881B2 JP6037881B2 JP2013026277A JP2013026277A JP6037881B2 JP 6037881 B2 JP6037881 B2 JP 6037881B2 JP 2013026277 A JP2013026277 A JP 2013026277A JP 2013026277 A JP2013026277 A JP 2013026277A JP 6037881 B2 JP6037881 B2 JP 6037881B2
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- 238000000034 method Methods 0.000 title claims description 41
- 238000001514 detection method Methods 0.000 claims description 37
- 238000006073 displacement reaction Methods 0.000 claims description 11
- 238000005259 measurement Methods 0.000 claims description 11
- 238000005070 sampling Methods 0.000 claims description 5
- 239000011295 pitch Substances 0.000 description 42
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 230000005674 electromagnetic induction Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000005284 excitation Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
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Classifications
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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
- 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
- G01D5/12—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 using electric or magnetic means
- G01D5/14—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 using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/20—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 using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
- G01D5/204—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 using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils
- G01D5/2073—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 using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils by movement of a single coil with respect to two or more coils
-
- 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
- G01D3/00—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups
- G01D3/028—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups mitigating undesired influences, e.g. temperature, pressure
- G01D3/036—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups mitigating undesired influences, e.g. temperature, pressure on measuring arrangements themselves
-
- 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
- G01D5/12—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 using electric or magnetic means
- G01D5/14—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 using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/20—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 using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
- G01D5/204—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 using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils
- G01D5/2066—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 using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils by movement of a single coil with respect to a single other coil
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Description
Ic=I・sin(kα)・sin(ωt)
ただし、I:電流の大きさ
p:コイルの1ピッチの長さ(ロータリ形スケールでは角度)
k:2π/p
ω:交流電流の角周波数
t:時刻
α:励振位置
ただし、K:ギャップgに依存する係数
X:スケールの検出位置(スケールに対しての長手方向におけるスライダの検出位置)
被測定対象が一定のピッチでパターン配置される一次側部材と、測定部である二次側部材との相対位置を、一定の速度又は角速度で変化させることで、位置の検出を行う位置検出器の精度補正方法であって、
一回の測定中において、
前記二次側部材の相対位置が、前記被測定対象のn番目の節目を通過してからn+1番目の節目に到達するまでの、1ピッチの長さ又は角度pを移動する間に、一定時間間隔Δtごとに検出したピッチ範囲内における時刻i・Δt(iはサンプリング番号0〜N−1の自然数)での変位量Gn[i]を記憶し、
前記n番目の節目から前記n+1番目の節目までの前記pを移動する時間をTとし、平均速度又は平均角速度Sを
S=p/T
より求め、
前記n番目の節目から前記n+1番目の節目までのピッチでの内挿誤差En[i]を
En[i]=Gn[i]−i・S・Δt−Gn[0]
より求め、
現在の前記二次側部材の相対位置である検出位置が、m番目の節目からm+1番目の節目までのピッチ範囲内における検出位置Gmであるものとし、n=m+1である場合、|Gm−Gn[i]|が最小となるi=Iの内挿誤差En[I]を求め、前記被測定対象の零点位置からの位置である検出位置X´を
X´=p・m+Gm−En[I]
より求める
ことを特徴とする。
上記第1の発明に係る位置検出器の精度補正方法において、
過去に前記内挿誤差En[i]をk(k:整数)回取得し、平均内挿誤差Ena[i]を求めていれば、今回の前記内挿誤差En[i]を含んだ平均内挿誤差Ena´[i]を
Ena´[i]=(En[i]+k・Ena[i])/(k+1)
より求め、
|Gm−Gn[i]|が最小となるi=Iの平均内挿誤差Ena´[I]を求め、前記検出位置X´を
X´=p・m+Gm−Ena´[I]
より求める
ことを特徴とする。
12 スケール
13 第1スライダ側コイル
14 第2スライダ側コイル
15 スケール側コイル
Claims (2)
- 被測定対象が一定のピッチでパターン配置される一次側部材と、測定部である二次側部材との相対位置を、一定の速度又は角速度で変化させることで、位置の検出を行う位置検出器の精度補正方法であって、
一回の測定中において、
前記二次側部材の相対位置が、前記被測定対象のn番目の節目を通過してからn+1番目の節目に到達するまでの、1ピッチの長さ又は角度pを移動する間に、一定時間間隔Δtごとに検出したピッチ範囲内における時刻i・Δt(iはサンプリング番号0〜N−1の自然数)での変位量Gn[i]を記憶し、
前記n番目の節目から前記n+1番目の節目までの前記pを移動する時間をTとし、平均速度又は平均角速度Sを
S=p/T
より求め、
前記n番目の節目から前記n+1番目の節目までのピッチでの内挿誤差En[i]を
En[i]=Gn[i]−i・S・Δt−Gn[0]
より求め、
現在の前記二次側部材の相対位置である検出位置が、m番目の節目からm+1番目の節目までのピッチ範囲内における検出位置Gmであるものとし、n=m+1である場合、|Gm−Gn[i]|が最小となるi=Iの内挿誤差En[I]を求め、前記被測定対象の零点位置からの位置である検出位置X´を
X´=p・m+Gm−En[I]
より求める
ことを特徴とする位置検出器の精度補正方法。 - 過去に前記内挿誤差En[i]をk(k:整数)回取得し、平均内挿誤差Ena[i]を求めていれば、今回の前記内挿誤差En[i]を含んだ平均内挿誤差Ena´[i]を
Ena´[i]=(En[i]+k・Ena[i])/(k+1)
より求め、
|Gm−Gn[i]|が最小となるi=Iの平均内挿誤差Ena´[I]を求め、前記検出位置X´を
X´=p・m+Gm−Ena´[I]
より求める
ことを特徴とする請求項1に記載の位置検出器の精度補正方法。
Priority Applications (4)
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JP2013026277A JP6037881B2 (ja) | 2013-02-14 | 2013-02-14 | 位置検出器の精度補正方法 |
CN201480003624.7A CN104884905B (zh) | 2013-02-14 | 2014-01-20 | 位置检测器的精度补正方法 |
PCT/JP2014/050893 WO2014125874A1 (ja) | 2013-02-14 | 2014-01-20 | 位置検出器の精度補正方法 |
TW103103675A TWI521188B (zh) | 2013-02-14 | 2014-01-29 | Error Correction Method for Position Detector |
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JP2013026277A JP6037881B2 (ja) | 2013-02-14 | 2013-02-14 | 位置検出器の精度補正方法 |
Publications (3)
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JP2014153344A JP2014153344A (ja) | 2014-08-25 |
JP2014153344A5 JP2014153344A5 (ja) | 2016-03-03 |
JP6037881B2 true JP6037881B2 (ja) | 2016-12-07 |
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JP (1) | JP6037881B2 (ja) |
CN (1) | CN104884905B (ja) |
TW (1) | TWI521188B (ja) |
WO (1) | WO2014125874A1 (ja) |
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CN116679621B (zh) * | 2023-07-31 | 2023-10-17 | 南京德克威尔自动化有限公司 | 多轴同步运动控制系统及其控制方法 |
Family Cites Families (6)
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JP3772121B2 (ja) * | 2002-02-28 | 2006-05-10 | ファナック株式会社 | エンコーダの信号処理装置 |
JP2006003307A (ja) * | 2004-06-21 | 2006-01-05 | Mitsutoyo Corp | エンコーダ、及び、その信号調整方法 |
KR100955549B1 (ko) * | 2005-11-28 | 2010-04-30 | 미쓰비시덴키 가부시키가이샤 | 위치 검출 오차 보정 방법 |
JP4930919B2 (ja) * | 2007-07-20 | 2012-05-16 | 多摩川精機株式会社 | 回転位置信号処理装置 |
JP5131143B2 (ja) * | 2008-10-20 | 2013-01-30 | 株式会社デンソー | モータの回転角検出装置 |
JP2010145149A (ja) * | 2008-12-17 | 2010-07-01 | Mitsubishi Heavy Ind Ltd | 電磁誘導式位置検出器及び電磁誘導式位置検出方法 |
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- 2014-01-20 WO PCT/JP2014/050893 patent/WO2014125874A1/ja active Application Filing
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WO2014125874A1 (ja) | 2014-08-21 |
CN104884905B (zh) | 2017-03-22 |
TW201439507A (zh) | 2014-10-16 |
JP2014153344A (ja) | 2014-08-25 |
CN104884905A (zh) | 2015-09-02 |
TWI521188B (zh) | 2016-02-11 |
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