JP7107806B2 - ロータリエンコーダ - Google Patents
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- JP7107806B2 JP7107806B2 JP2018185902A JP2018185902A JP7107806B2 JP 7107806 B2 JP7107806 B2 JP 7107806B2 JP 2018185902 A JP2018185902 A JP 2018185902A JP 2018185902 A JP2018185902 A JP 2018185902A JP 7107806 B2 JP7107806 B2 JP 7107806B2
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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
- G01D5/26—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
- G01D5/3473—Circular or rotary encoders
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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
- G01D5/26—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
- G01D5/266—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 by interferometric means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D18/00—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00
- G01D18/001—Calibrating encoders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D18/00—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00
- G01D18/002—Automatic recalibration
- G01D18/004—Continuous recalibration
-
- 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
- G01D5/244—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 characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/24471—Error correction
- G01D5/2448—Correction of gain, threshold, offset or phase control
-
- 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
- G01D5/244—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 characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/24471—Error correction
- G01D5/2449—Error correction using hard-stored calibration data
-
- 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
- G01D5/244—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 characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/24471—Error correction
- G01D5/24495—Error correction using previous values
Description
1. ロータリエンコーダの構成
実施の形態に係るロータリエンコーダ(以下、単に「エンコーダ」という)100は、いわゆるアブソリュートエンコーダである。エンコーダ100は、回転軸(図示せず)に固設された回転円盤2と、回転軸の軸受(図示せず)に固設された光源3と、光源3からの光を、回転円盤2を介して受光する検出器4と、変換部5と、演算部6と表示部7とを備える。
fI(θ)=θ+ΣAi*sin(iθ+αi) (1)
fI(θ+φ)=(θ+φ)+ΣAi*sin{i(θ+φ)+αi } (2)
(ここで、iは高調波の次数を表す自然数(1,2,3,・・・M/2)、Aiは、第i高調波の振幅、αiは、第i高調波の初期位相であり、Mは目盛数であり偶数である。)
次に、角度の読取値における面ぶれの影響を、図3を参照して説明する。面ぶれとは、回転円盤2が回転により、光源3に対して、近づいたり遠ざかったりするように変位することである。図3では、光源に近づく方向の面ぶれが生じた場合について検討する。
図3(b)より、面ぶれΔH、面ぶれΔHによる入射位置のずれΔxDI、第1の発光素子31から検出器4までの距離HLC、および読取位置ACIBCI間の距離xCIの関係は式3の通りである。
xCI/HLC=ΔxDI/ΔH (3)
ΔxDI=ΔH/HLC・xCI (4)
tanφ=xD/l (5)
tan(φ+ΔφI)=(xD-ΔxDI)/l (6)
ΔφI≒-(ΔxDI)/l=-(ΔH/HLC)(xCI/l) (7)
ΔφI=Σ(ΔHi/HLC)(xCI/l)*sin{i(θ+φ)+βi} (8)
fI(θ+φ)=θ+φ+ΣAi*sin{i(θ+φ)+αi}+Σ(ΔHi/HLC)(xCI/l)*sin{i(θ+φ)+βi} (9)
fI(θ)=θ+ΣAi*sin(iθ+αi) (10)
(xL-xCII)/HLC=-ΔxDII/ΔH (11)
ΔxDII=(ΔH/HLC)(xCII-xL) (12)
fII(θ+φ)=θ+φ+ΣAi*sin{i(θ+φ)+αi}+Σ(ΔHi/HLC)(xCII-xL)/l*sin{i(θ+φ)+βi} (13)
h(θ+φ)=fII(θ+φ)-fI(θ+φ)
=Σ(ΔHi/HLC)(xCII-xCI-xL)/l*sin{i(θ+φ)+βi} (14)
ΔφI=xCI/(xCII-xCI-xL)*h(θ+φ) (15)
以上により、誤差の影響を考慮した角度読取値が、fI(θ+φ)-ΔφIで求められる。
本実施の形態に係る、エンコーダ100の自己校正の方法は、θ+φの位置における読取値fI(θ+φ)の取得に際して、面ぶれによる角度読取値の誤差ΔφIを考慮する点を除き、特許文献1に記載された方法と同様であり、概略は以下のとおりである。
gI(θ,φ)=φ+ΣAi*sin(iθ/2)*cos{i(θ+φ/2)+αi}
=B0+ΣBi*sin{iθ+γi} (16)
ただし、
φ=Bo (17)
Ai=Bi*sin(iφ/2) (18)
αi=γi-iφ/2+π/2 (19)
である。
θ=f(θ)-ΣAi*sin(iθ+αi)=f(θ)-E(θ) (20)
なお、E(θ)は誤差関数でありE(θ)=ΣAi*sin(iθ+αi)である。
次に、本実施の形態に係るエンコーダ100による自己校正の手順を、図5を参照しながら説明する。以下の自動校正の処理は、通常は、演算部6が行う。
図6は第2の実施の形態に係る、エンコーダ100aを示す。エンコーダ100aは、第1の実施の形態に係るエンコーダ100と略同様の構成を有するが、光源3aが、さらに第3の発光素子33を有する点で異なる。第3の発光素子33は、第1の発光素子31、すなわち回転円盤2の中心Oから点Aに下ろした垂線に関して、第2の発光素子32と対称に配置されている。
3,3a 光源
31 第1の発光素子
32 第2の発光素子
33 第3の発光素子
4 検出器
6 演算部
100,100a ロータリエンコーダ
Claims (2)
- 角度コードが付された回転円盤と、前記角度コードを照射する光源と、前記角度コードを読み取る検出器と、該検出器で読み取った角度コードから読取値f(θ)を得る演算部を備えるロータリエンコーダであって、
前記光源は、複数の発光素子を備え、第1の発光素子は前記回転角θに相当する位置に配置され、第2の発光素子は、前記第1の発光素子から所定距離xL離間して配置され、
前記演算部は、前記回転円盤を所定角度回転させる度に、前記回転円盤の回転角をθとし、該回転角θから検出器上の読取範囲内の任意の角度をφとするとき、前記第1の発光素子を用いた場合の前記検出器上の読取範囲内の読取値fI(θ+φ)及びfI(θ)と、前記第2の発光素子を用いた場合の前記検出器上の読取値fII(θ+φ)を得て、前記読取値fII(θ+φ)と前記読取値fI(θ+φ)との差h(θ+φ)に基づいて、角度θ+φにおける面ぶれによる読取値の誤差ΔφIを算出し、前記読取値の誤差ΔφIを反映して前記読取値fI(θ+φ)とfI(θ)との差gI(θ,φ)を求め、前記差gI(θ,φ)の変化から前記読取値fI(θ)を自己校正することを特徴とするロータリエンコーダ。 - 前記光源は、前記第1の発光素子に関して前記第2の発光素子と対称な位置に配置された第3の発光素子を備え、
前記演算部は、前記第1の発光素子を用いた場合の前記検出器上の読取範囲内の読取値fI(θ-φ)および前記第3の発光素子を用いた場合の前記検出器上の読取値fIII(θ-φ)を得て、前記読取値fIII(θ-φ)と前記読取値fI(θ-φ)との差h(θ-φ)に基づいて、角度θ-φにおける面ぶれによる読取値の誤差Δ(-φI)を算出し、前記読取値の誤差Δ(-φI)を反映して前記読取値fI(θ-φ)とfI(θ)との差gI(θ,-φ)を求め、前記差gI(θ,φ)および前記差gI(θ,-φ)の変化を平均化して、前記読取値fI(θ)を自己校正することを特徴とする請求項1に記載のロータリエンコーダ。
Priority Applications (3)
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JP2018185902A JP7107806B2 (ja) | 2018-09-28 | 2018-09-28 | ロータリエンコーダ |
US16/567,466 US11293786B2 (en) | 2018-09-28 | 2019-09-11 | Rotary encoder |
EP19198099.4A EP3628979B1 (en) | 2018-09-28 | 2019-09-18 | Rotary encoder |
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JP2018185902A JP7107806B2 (ja) | 2018-09-28 | 2018-09-28 | ロータリエンコーダ |
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JP2020056618A JP2020056618A (ja) | 2020-04-09 |
JP2020056618A5 JP2020056618A5 (ja) | 2021-08-12 |
JP7107806B2 true JP7107806B2 (ja) | 2022-07-27 |
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Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2005345356A (ja) | 2004-06-04 | 2005-12-15 | Kyoritsu Denki Kk | 平面度測定における取付位置の測定方法並びにその装置 |
JP2007198942A (ja) | 2006-01-27 | 2007-08-09 | Sokkia Co Ltd | ロータリエンコーダ |
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JPS4824415B1 (ja) | 1970-12-02 | 1973-07-20 | ||
JPS59183305A (ja) * | 1983-04-01 | 1984-10-18 | Ricoh Co Ltd | 位置検出装置 |
US6145368A (en) * | 1998-06-03 | 2000-11-14 | Micron Electronics, Inc. | Method for calibrating rotary encoder with multiple calibration points |
US7012703B2 (en) * | 2003-08-21 | 2006-03-14 | Ams Controls | Automatic encoder resolution calibration and length measurement system and method |
US7414547B2 (en) * | 2006-12-22 | 2008-08-19 | 3M Innovative Properties Company | Method and system for calibrating a rotary encoder and making a high resolution rotary encoder |
JP5808230B2 (ja) * | 2011-11-14 | 2015-11-10 | 株式会社ハーモニック・ドライブ・システムズ | 角度検出器の自律校正方法、角度検出器、円周目盛校正装置および角度検出器の校正装置 |
WO2014075698A1 (de) * | 2012-11-14 | 2014-05-22 | Baumüller Nürnberg GmbH | Verfahren zum kalibrieren eines drehgebers |
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- 2019-09-11 US US16/567,466 patent/US11293786B2/en active Active
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Patent Citations (2)
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JP2005345356A (ja) | 2004-06-04 | 2005-12-15 | Kyoritsu Denki Kk | 平面度測定における取付位置の測定方法並びにその装置 |
JP2007198942A (ja) | 2006-01-27 | 2007-08-09 | Sokkia Co Ltd | ロータリエンコーダ |
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JP2020056618A (ja) | 2020-04-09 |
EP3628979A1 (en) | 2020-04-01 |
US20200103255A1 (en) | 2020-04-02 |
EP3628979B1 (en) | 2021-05-26 |
US11293786B2 (en) | 2022-04-05 |
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