WO2006015969A2 - Procede pour determiner la position absolue reelle d'un element supplementaire pouvant etre deplace par rapport a un element de base, procede correspondant pour etablir un tableau de valeurs de correction, dispositif de determination correspondant, et dispositif de stockage dans lequel est stocke un tableau de valeurs de co - Google Patents

Procede pour determiner la position absolue reelle d'un element supplementaire pouvant etre deplace par rapport a un element de base, procede correspondant pour etablir un tableau de valeurs de correction, dispositif de determination correspondant, et dispositif de stockage dans lequel est stocke un tableau de valeurs de co Download PDF

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Publication number
WO2006015969A2
WO2006015969A2 PCT/EP2005/053822 EP2005053822W WO2006015969A2 WO 2006015969 A2 WO2006015969 A2 WO 2006015969A2 EP 2005053822 W EP2005053822 W EP 2005053822W WO 2006015969 A2 WO2006015969 A2 WO 2006015969A2
Authority
WO
WIPO (PCT)
Prior art keywords
absolute position
determined
relative
correction value
apparent
Prior art date
Application number
PCT/EP2005/053822
Other languages
German (de)
English (en)
Other versions
WO2006015969A3 (fr
Inventor
Markus Knorr
Original Assignee
Siemens Aktiengesellschaft
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Siemens Aktiengesellschaft filed Critical Siemens Aktiengesellschaft
Publication of WO2006015969A2 publication Critical patent/WO2006015969A2/fr
Publication of WO2006015969A3 publication Critical patent/WO2006015969A3/fr

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Classifications

    • 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
    • G01D18/00—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00
    • G01D18/001—Calibrating encoders

Definitions

  • the present invention relates to a determination method for an actual absolute position of an additional element movable relative to a base element
  • a is connected to the basic element transducer device scans a cooperating with the auxiliary member, movable relative to the transducer device measuring graduation, - wherein the timer means comprises at least two signal transmitters on ⁇ , each having a binarisierbares measurement signal lie ⁇ fert,
  • binarized measuring signals as such a range can be determined, in which the measuring graduation ange ⁇ is arranged relative to the donor device, or based on a change of at least one of the binarized measurement signals in conjunction with an already known area a new area can be determined in which the material measure is arranged relative to the transducer device,
  • the measurement signals are fed to an evaluation device, which determines based on the measurement signals a position of the Supplementverkör ⁇ ment relative to the encoder device and therefrom a apparent absolute position of the additional element relative to the base element.
  • the present invention further relates to a Determined ⁇ averaging means for an absolute position of a movable element relative to a basic additional element, which according to a DER-like methods are operable.
  • the present invention also relates to a creation method for a correction value Table and a memory device in which such a correction value table is stored.
  • the investigation procedure of the type mentioned in the introduction and the corresponding detection devices are generally known.
  • the encoder device is usually designed as incremental encoder system.
  • the material measure is formed as a disc that performs a rotational movement about a rotation ⁇ axis.
  • the position of the material measure relative to the signal generators ie within a complete revolution of the material measure, is detected by the signal generators.
  • An ⁇ hand this situation and the number of executed by the material measure complete revolutions then the apparent absolute position of the additional element is determined relative to the base element.
  • An example of such a determination method is described in DE-A-100 34 733.
  • the correction of the DE-A-100 34 733 refers only to the position of the material measure relative to the processing Gebereinrich ⁇ not determined in a correction of the ⁇ based on the position of the measuring scale apparent absolute position of the additional member relative to the base member.
  • the Cor ⁇ rection in DE-A-100 34 733 regardless of how many complete revolutions of the measuring scale is carried out relative to the Ge prepared direction. In this method, therefore, only errors are compensated, which occur again after each complete revolutions of the material measure.
  • the inventor of the present invention has now recognized that in addition to these periodic errors, which are caused by the interaction of the measuring scale and the encoder, further errors occur which do not occur again after each complete revolution of the material measure and are ignored by the Measuring standard and the encoder device are un ⁇ dependent. These errors are caused by the interaction of basic element and additional element itself or errors in the signal transmission and evaluation. The most accurate and complete correction of these errors is the object of the present invention.
  • the object is procedurally achieved by a gat ⁇ tungsiliaes determination method in which - the apparent absolute position of a correction value table is fed ⁇ leads, is read out of the at least one of the apparent Ab ⁇ solutlage determined correction value,
  • the actual absolute position of the additional element relative to the base element is determined and
  • the object is averaging means by an investigative for an absolute position of a dissolved relative to a base member movable attachment member, the egg according ⁇ nem such investigation is operable.
  • the correction value table must have been created previously. This object is achieved by a creation method for a correction value table in which
  • - means connected to a base element transducer device ei ⁇ ne with an auxiliary element cooperating, movable relative to the transducer device measuring standard samples, - the transducer device having at least two signal transmitters, each of which provides a binarisierbares measurement signal, either a range can be determined on the basis of simultaneously acquired, binarized measurement signals as such, in which the material measure is arranged relative to the transducer device, or a new one based on a change of at least one of the binarized measurement signals in conjunction with an already known region Area can be determined, in which the material measure is arranged relative to the transducer device,
  • the measurement signals to an evaluation device are fed to the basis of the measurement signals a position of the scale relative to the transducer device and it has an apparent from ⁇ solutlage of the additional member relative to the base member it ⁇ averages,
  • At least one correction value is stored for each area in the compensation value table.
  • the object is achieved by a memory device in which a correction value table created using such a method of creation is stored.
  • the evaluation device determines the actual absolute position on the basis of this correction value and
  • the evaluation device determines verneinend naval position, which Cor ⁇ compensation values are associated directly, which reads out this apparent absolute positions assigned correction values and if the real absolute position based on these correction values be ⁇ .
  • the creation method corresponds to the determination method, but must of course be modified accordingly.
  • the following variants are possible for the creation process: To determine the apparent absolute position, the measurement signals supplied by the encoder device are binarized and the position of the material measure is determined by the evaluation device on the basis of the binarized measurement signals.
  • the evaluation device determines a plurality of layers of the material measure within each range, an apparent absolute position is determined for each determined position of the material measure, and the correction value table shows the apparent value for each of the possible positions ⁇ bare absolute position, a corresponding correction value toward ⁇ terlbs.
  • the transducer device can be designed in various ways. Examples of useful sensor devices are magnetic feldabtastende donor (such. As magnetoresistive or Hallef ⁇ Anlagensensoren), inductive sensor (such. As resolver or transformers with a movable core resonance), or capacitive and optical encoder. Preferably, however, the transmitter device is designed as an incremental encoder system. The signal generators thus preferably provide incremental signals.
  • the material measure It is possible for the material measure to carry out a linear movement relative to the encoder device. As a rule, however, the material measure performs a rotational movement relative to the encoder device.
  • the number of correction values stored in the correction value table corresponds in this case to all Usually more than a complete revolution of Budapestver ⁇ body.
  • the additional element can perform a rotational movement relative to the base element. As a rule, however, it performs a linear movement.
  • FIG. 5 encoder signals
  • FIG. 7 shows a modification of the machine of FIG. 1 and FIG. 8 shows a flow chart.
  • a machine which in principle is arbitrary, has, inter alia, a basic element 1 and an additional element 2.
  • the basic element 1 is z. B. the main body of the machine, the additional element 2, a carriage which is displaceable relative to the Grundkör ⁇ by 1.
  • the additional element 2 thus performs a linear movement relative to the base element 1.
  • the adjustment of the additional element 2 he ⁇ follows it via a threaded spindle. 3
  • the threaded spindle 3 is placed on a suitable drive ⁇ .
  • the drive is not shown in FIG 1 for the sake of clarity. He is usually an electric ⁇ shear positioning drive. In principle, however, another drive would also be conceivable. Even an adjustment via a hand crank would theoretically be possible.
  • p' of Zu ⁇ ear member 2 to the base member 1 are relatively an encoder ⁇ direction 4 and a measuring scale 5 is provided.
  • the Ge prepared direction 4 is connected to the base member 1, and scans the measuring scale 5 in.
  • the encoder ⁇ direction 4 at least two signal transmitters 6, each of which x binarisierbares a measurement signal y supplies.
  • the material measure 5 is rotatably connected to the threaded spindle 3 and therefore cooperates with the additional element 2.
  • the material measure 5 Due to the rotationally fixed connection of the material measure 5 with the threaded spindle 3, the material measure 5 is thus relative to the transducer device 4 movable, namely rotatable.
  • the Titanver ⁇ body 5 thus performs relative to the transducer device 4 a rotational movement.
  • a complete revolution of mecanicverkör ⁇ tion 5 corresponds to a shift ⁇ p of the additional element 2 relative to the base element 1, which represents only a fraction of the total travel of the additional element 2 represents.
  • For moving the additional element 2 over its gesam ⁇ th path of the measuring scale 5 thus carries more than one complete revolution, usually even many Flip Cellphone ⁇ relations.
  • the material measure 5 can - see FIG 2 - be designed as a donor disk for an absolute position encoder system. It has in this case, several circular rings 7, the different co ⁇ are diert. Correspondingly, the Gebereinrich ⁇ tion 4 for each of the circular rings 7 has its own signal generator 6. Each of these signal transmitter 6 then samples another
  • the measuring signals x, y are simultaneously detected and binarized by the signal generators 6.
  • a region can be determined directly and directly in which the material measure 5 is arranged relative to the donor device 4.
  • an angular resolution of 90 ° would be possible.
  • the material measure 5 is provided with a multiplicity of graduations 8.
  • the measurement signals x, y provided by the signal generators 6, y incremental signals x, y.
  • x is based on the measurement signals, y, as such, is not a rich Be ⁇ determined in which the measuring body 5 is arranged relative to the transmitter device.
  • 4 Based on a change least one of the measurement signals binarized min ⁇ x, y in Verbin ⁇ dung with a previously known range, however, is a new area can be determined in which the measuring body 5 is disposed rela ⁇ tive to the transducer device. 4 One area corresponds to a quarter of the distance between two graduations 8 from each other. Such evaluations are generally known, which is why detailed explanations of the area are subsequently omitted.
  • the measurement signals x, y according to FIG 4 a Auswer ⁇ te planted 9 supplied.
  • the evaluation unit 9 ermit ⁇ telt x based on the measurement signals y a position ofassiverkörpe ⁇ tion 5 4 relative to the transmitter device in that position ermit- they telt then an apparent absolute position p ', p "of the additional ⁇ elements 2 relative to the base element. 1 regulatory procedure these Determined ⁇ are well known, which is why apart from below detailed explanations in this respect.
  • the evaluation device 9 - see FIG. 5 - uses only the binarized measurement signals x, y itself to determine the position of the material measure 5.
  • each layer of the material measure 5 and thus also the apparent absolute position p corresponds exactly to one of the above-mentioned regions of the material measure 5 relative to the transducer device 4.
  • a position of the dimensional mass determined in this way. bodiment 5 is often characterized in the art as a coarse position be ⁇ .
  • an AD conversion of the measuring signals x, y and determination of an arc tangent ⁇ takes place-also see FIG. 4 -from the quotient of the-optionally corrected-measuring signals x, y.
  • the arctangent ⁇ corresponds to a fine layer within a range. In this case, therefore x by the evaluation device 9 with reference to the direction from the Geberein- 4 supplied measurement signals, y within each Be ⁇ Reich several possible positions of the scale 5 bestimm ⁇ bar.
  • the measuring signals x, y can be corrected if necessary.
  • this is done in a correction block 10, where x is usually offset, Ampli ⁇ tuden- and phase errors of the measured signals, y offset ⁇ to.
  • the position detection device 11 is generally a highly accurate position detection device 11. It can be used, for example, as a laser interferometer or as a laser interferometer running time-based ultrasonic measuring system be formed.
  • the evaluation device 9 then stores a correction value k in a correction value table 12.
  • the correction thereby consider ⁇ is worth k such in the correction value table 12 stores that in a later specification of the apparent absolute ⁇ position p, p '', the corresponding correction value k in the Cor ⁇ rekturwerttabelle 12 retrievable and can be read out from their This can for.. B ., be effected by the fact that the Positi ⁇ on in the correction value table 12, at which the Korrektur ⁇ value k is stored, with the apparent absolute position p ', p "corresponds. Also it would be - see FIG 6 - play as possible ⁇ , p the apparent absolute position 'p'. With store Also in this case would have the pairs of apparent absolute positions p ', p "and but correction values k after apparent absolute positions p', p sorted deposited was ⁇ the.
  • the correction value k itself is, of course, so be ⁇ true that the actual absolute position p is again erffen ⁇ bar.
  • the correction value k is identical to the actual absolute position p of the additional element 2 relative to the base element 1.
  • a value can be saved k as a correction value of p from the tatsumbleli ⁇ chen and the apparent absolute position, p ', p "is derived.
  • the difference between actual and apparent absolute position p, p', p" of the additional element 2 rela tively stores ⁇ be off in the correction value table 12 to the base element. 1
  • the position of the material measure 5 relative to the transducer device 4 is determined based on the binarized Mess ⁇ signals x, y, the layers ofassiverkörpe ⁇ tion 5 and thus the apparent absolute positions p "with the mutually distinguishable areas are identical. Since a correction value k is stored in the correction value table 12 for each region, a 1: 1 assignment of the correction values k to the apparent absolute positions p "thus exists in this case. If, on the other hand, the position of the material measure 5 has been determined by evaluating the fine layer ⁇ , then two alternative approaches are possible to produce the correction value table 12.
  • one of several possible positions of the measurement embodiment 5 is determined within a range of the evaluation device 9 on the basis of the measurement signals x, y determined by the transducer device 4, it is only in exceptional cases (namely, if a low fine resolution exists and Sufficient space is available) possible that in the correction value table 12 for each of the apparent absolute positions p ', which is determined on the basis of the possible positions ofassiverièreung 5, in the correction value table 12 a separate correction value k is stored. If so, nevertheless should be the case, there still exists a 1: 1 assignment of apparent absolute positions p 'and correction values k.
  • Correction value k be deposited, which is assigned directly to this apparent Abso ⁇ lutlage p '.
  • the evaluation device 9 proceeds as follows:
  • a step S checks the evaluation device 9 in a step S2, whether in the correction value table 12 of the determined apparent absolute position p', a correction value k supplied directly ⁇ is arranged. If this is the case, the evaluation device 9 reads out this correction value k from the correction value table 12 in a step S3. In a step S4, it then determines, based on the correction value k (possibly in conjunction with the apparent absolute position p '), the actual absolute position p.
  • the correction values k which are assigned directly to these two apparent absolute positions p ', are read by the evaluation device 9 from the correction value table 12 in a step S6. On the basis of these two correction values k, the evaluation device 9 then determines in a step S7 - z. By linear interpolation - the actual absolute position p assigned to the apparent absolute position p 'determined in step S1. By means of the present invention, absolute errors of any kind can thus be compensated for, in particular beyond the possibilities which are given with incremental encoder systems.
  • the inventively determined actual absolute position p leads to a significantly improved STEU ⁇ er a drive of the threaded spindle 3, if the control circuits of this drive the nominal and / or actual values of the actual hand ⁇ absolute position are determined p.
  • the actual velocity can be determined on the basis of p According to the invention determined actual absolute position.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

Selon l'invention, un élément supplémentaire (2) peut être déplacé par rapport à un élément de base (1). Un dispositif de détection (4) qui est relié à l'élément de base (1) explore un étalon (5) qui coopère avec l'élément supplémentaire (2) et qui peut être déplacé par rapport au dispositif de détection (4). Le dispositif de détection (4) comprend au moins deux détecteurs de signaux dont au moins un fournit un signal de mesure pouvant être binarisé (x,y). Une nouvelle zone dans laquelle l'étalon (5) est disposé par rapport au dispositif de détection (4) peut être déterminée au moyen de signaux de mesure pouvant être binarisés (x,y), détectés simultanément en tant que tels ou à l'aide d'une variation d'au moins un signal de mesure pouvant être binarisé (x,y), en relation avec une zone déjà connue. Un dispositif d'évaluation (9) détermine, au moins desdits signaux de mesure (x,y), une position de l'étalon (5) par rapport au dispositif de détection (4), et détermine, à partir de cette position, une position absolue apparente (p',p") de l'élément supplémentaire (2) par rapport à l'élément de base (1). Au moins une valeur de correction (k) qui est déterminée par une position absolue apparente (p',p'') est extraite d'un tableau de valeurs de correction dans lequel est stocké au moins une valeur de correction (k) pour chaque zone, et une position absolue réelle (p) de l'élément supplémentaire par rapport à l'élément de base est déterminée à partir de ladite valeur de correction (k). Pour établir le tableau de valeurs de correction (12), la position absolue réelle (p) est déterminée préalablement au moins une fois dans chaque zone au moyen d'un dispositif de détection de position (11), et une valeur de correction correspondante (k) est stockée dans le tableau de valeurs de correction (12).
PCT/EP2005/053822 2004-08-09 2005-08-04 Procede pour determiner la position absolue reelle d'un element supplementaire pouvant etre deplace par rapport a un element de base, procede correspondant pour etablir un tableau de valeurs de correction, dispositif de determination correspondant, et dispositif de stockage dans lequel est stocke un tableau de valeurs de co WO2006015969A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102004038622.6 2004-08-09
DE102004038622A DE102004038622B3 (de) 2004-08-09 2004-08-09 Ermittlungsverfahren für eine tatsächliche Absolutlage eines relativ zu einem Grundelement bewegbaren Zusatzelements, korrespondierendes Erstellverfahren für eine Korrekturwerttabelle, korrespondierende Ermittlungseinrichtung und Speichereinrichtung, in der eine Korrekturwerttabelle hinterlegt ist

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Publication Number Publication Date
WO2006015969A2 true WO2006015969A2 (fr) 2006-02-16
WO2006015969A3 WO2006015969A3 (fr) 2006-06-08

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PCT/EP2005/053822 WO2006015969A2 (fr) 2004-08-09 2005-08-04 Procede pour determiner la position absolue reelle d'un element supplementaire pouvant etre deplace par rapport a un element de base, procede correspondant pour etablir un tableau de valeurs de correction, dispositif de determination correspondant, et dispositif de stockage dans lequel est stocke un tableau de valeurs de co

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WO (1) WO2006015969A2 (fr)

Cited By (1)

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CN109000924A (zh) * 2018-10-24 2018-12-14 哈工大机器人（山东）智能装备研究院 一种基于k均值的滚珠丝杠副状态监测方法

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DE102009023515B4 (de) * 2009-05-30 2011-07-21 Walter Dr. 85521 Mehnert Verfahren und Vorrichtung zur Ermittlung des Feinpositionwertes eines zu überwachenden Körpers

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DE19506403A1 (de) * 1994-02-25 1995-09-14 Mitsubishi Electric Corp Positionsdetektor und Positionsausgleichverfahren für denselben
DE10233155A1 (de) * 2002-07-22 2004-02-12 Abb Patent Gmbh Verfahren zur Korrektur systematischer Geometriefehler in einem Drehwinkelmessgerät

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DE4041491C2 (de) * 1990-12-22 1998-03-19 Mannesmann Vdo Ag Sensor zur Erzeugung von elektrischen Signalen, welche die Stellung eines Objekts wiedergeben
DE4331151C2 (de) * 1993-09-14 1997-05-22 Baumueller Nuernberg Gmbh System zur Messung der Absolutposition des beweglichen, zyklischen Teilungsmarken-Trägers eines inkrementalen Positionsgebers
DE19632656A1 (de) * 1996-08-13 1998-02-19 Ruf Electronics Gmbh Verfahren und Vorrichtung zum berührungslosen Erfassen der Lage oder der Drehstellung eines Gegenstandes

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DE19506403A1 (de) * 1994-02-25 1995-09-14 Mitsubishi Electric Corp Positionsdetektor und Positionsausgleichverfahren für denselben
DE10233155A1 (de) * 2002-07-22 2004-02-12 Abb Patent Gmbh Verfahren zur Korrektur systematischer Geometriefehler in einem Drehwinkelmessgerät

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109000924A (zh) * 2018-10-24 2018-12-14 哈工大机器人（山东）智能装备研究院 一种基于k均值的滚珠丝杠副状态监测方法

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WO2006015969A3 (fr) 2006-06-08

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