WO2023019679A1 - 编码器及其位置补偿方法、装置和存储介质 - Google Patents
编码器及其位置补偿方法、装置和存储介质 Download PDFInfo
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- 238000001514 detection method Methods 0.000 claims abstract description 68
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- 238000005259 measurement Methods 0.000 description 5
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- 238000006073 displacement reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
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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
Definitions
- the present application relates to the technical field of measuring equipment, in particular to an encoder and its position compensation method, device and storage medium.
- a rotary encoder is a device that detects the rotational position of a rotating body relative to a fixed body, specifically a device that compiles and converts signals or data into signal forms that can be used for communication, transmission, and storage. Among them, the rotary encoder can directly convert the measured angular displacement into a digital signal, and is widely used in automatic measurement and control systems.
- Rotary encoders include magnetic encoders. When installed on the outside of the motor shaft, due to the influence of installation accuracy and motor vibration, the magnetic encoder has a certain position detection error during use, which reduces the measurement accuracy of the magnetic encoder.
- the main purpose of this application is to propose an encoder and its position compensation method, device and storage medium, aiming to solve the problem that traditional magnetic encoders are prone to position detection errors and lead to reduced measurement accuracy.
- the application proposes a position compensation method for an encoder, the encoder includes a stator plate and a mover plate that rotates relative to the stator plate, the mover plate and the stator plate define multiple Each of the decoding areas, the moving sub-disc generates a magnetic field during its rotation, so that the stator disc can detect each of the decoding areas in turn, and the multiple decoding areas include the first decoding area and the second decoding area ;
- the position compensation method of the encoder comprises:
- the second position information is compensated to obtain target position information.
- the step of acquiring the first decoding information of the encoder in the first decoding area includes:
- first position information of the moving sub-disc in the first decoding area is calculated.
- the step of estimating the theoretical detection information of the stator disk in the second decoding area according to the first decoding information includes:
- the theoretical detection information of the stator disk in the second decoding area is estimated.
- the preset algorithm includes a differential algorithm or a phase-locked loop algorithm.
- every two adjacent decoding areas form the first decoding area and the second decoding area, respectively.
- the present application also provides a position compensation device for an encoder, which includes a memory, a processor, and an encoder position compensation program stored in the memory and operable on the processor.
- the encoder position compensation program is configured to implement the steps of the encoder position compensation method described above.
- an encoder including:
- the main body includes a stator plate and a mover plate that rotates relative to the stator plate, the mover plate and the stator plate define a plurality of decoding areas, and the mover plate generates a magnetic field during its rotation stroke,
- the multiple decoding areas include a first decoding area and a second decoding area;
- the position compensation device of the encoder includes a memory, a processor, and a position compensation program of the encoder stored on the memory and operable on the processor, the position compensation program of the encoder is
- the compensation program is configured to realize the steps of the encoder position compensation method as described above.
- one end surface of the stator plate is provided with a plurality of magnetic sensors distributed along the circumferential direction
- the mover plate is provided with a plurality of magnetic poles distributed along the circumferential direction
- At least some of the magnetic pole portions have different sizes.
- the plurality of magnetic pole portions include a plurality of first magnetic pole portions and a plurality of second magnetic pole portions arranged alternately, and the polarities of each of the first magnetic pole portions and each of the second magnetic pole portions are opposite.
- the present application also provides a storage medium, on which the position compensation program of the encoder is stored, and when the position compensation program of the encoder is executed by the processor, the encoder as described above is realized. The steps of the position compensation method.
- the first decoding information actually output by the encoder in the first decoding area can be obtained, and the first decoding information can be used as a reference for calculation; since the position of each decoding area in the encoder is clear and fixed, according to the first
- the first decoding information obtained at a decoding area that is, the theoretical decoding information of the encoder in the second decoding area can be deduced through preset rules, and the theoretical decoding information includes the theoretical detection information of the stator disk;
- the second decoding information actually output by the second decoding area, the second detection information includes the second detection information of the stator disk and the second position information of the movable sub disk; by comparing the theoretical detection information with the second detection information, it can be calculated Error information; by using the error information as the compensation of the second position information, the distance error between the stator plate and the moving plate in the magnetization direction of the encoder can be eliminated, and a more accurate target of the second decoding area can be obtained position information to improve the detection accuracy of the encoder.
- FIG. 1 is a schematic diagram of an embodiment of an encoder provided by the present application.
- Fig. 2 is a schematic bottom view of the mover disc in Fig. 1;
- Fig. 3 is a schematic top view of the stator disk in Fig. 1;
- FIG. 4 is a schematic diagram of the hardware operating environment of the encoder position compensation device provided by the present application.
- FIG. 5 is a schematic diagram of a first embodiment of the encoder position compensation method provided by the present application.
- FIG. 6 is a schematic diagram of a second embodiment of the encoder position compensation method provided by the present application.
- FIG. 7 is a schematic diagram of a third embodiment of the encoder position compensation method provided by the present application.
- FIG. 8 is a schematic flowchart of an embodiment of a position compensation method for an encoder provided in the present application.
- label name label name 100 Encoder 211 Hall sensor 1 Actuator 3 Encoder position compensation device 11 Magnetic pole 31 processor 11a first pole part 32 communication bus 11b second pole part 33 user interface 2 Stator plate 34 Network Interface twenty one magnetic sensor 35 memory
- the directional indications are only used to explain the position in a certain posture (as shown in the attached figure). If the specific posture changes, the directional indication will also change accordingly.
- a rotary encoder is a device that detects the rotational position of a rotating body relative to a fixed body, specifically a device that compiles and converts signals or data into signal forms that can be used for communication, transmission, and storage. Among them, the rotary encoder can directly convert the measured angular displacement into a digital signal, and is widely used in automatic measurement and control systems.
- Rotary encoders include magnetic encoders. When installed on the outside of the motor shaft, due to the influence of installation accuracy and motor vibration, the magnetic encoder has a certain position detection error during use, which reduces the measurement accuracy of the magnetic encoder.
- the present application provides a position compensation device for an encoder, which is used for compensating and correcting the detection data output by the encoder.
- the position compensation device of the encoder can be applied to the encoder. Therefore, the present application also provides an encoder, which includes a main body and the position compensation device of the encoder.
- FIG. 1 to FIG. 4 the drawings show specific embodiments of the encoder provided by the present application.
- the main body of the encoder 100 includes a stator plate 2 and a mover plate 1 that rotates relative to the stator plate 2 .
- the mover plate 1 and the stator plate 2 define a plurality of encoders. area, the moving sub-disk 1 generates a magnetic field during its rotation stroke, so that the stator disc 2 can detect each of the decoding areas in turn, and a plurality of the decoding areas include the first decoding area and the second decoding area .
- stator disk 2 and the rotor disk 1 are not limited, and may be circular, elliptical, polygonal or other irregular shapes, which may be set according to actual needs. However, in this embodiment, the stator disk 2 and the rotor disk 1 are roughly disc-shaped.
- the stator disk 2 includes a disk-shaped body and a plurality of magnetic sensors 21 arranged on one end surface of the disk-shaped body, and the plurality of magnetic sensors 21 are arranged along the circumferential direction of the disk-shaped body.
- the mover disk 1 is coaxially connected with the stator disk 2, and the mover disk 1 can rotate relative to the stator disk 2 under the drive of an external force.
- the mover disk 1 is arranged with multiple a magnetic pole part 11.
- the mover disc 1 can also include a disc-shaped body, and a plurality of magnetic pole parts 11 are arranged on the disc-shaped body of the mover disc 1; or, the mover disc 1 can be directly composed of a plurality of magnetic pole parts. 11 stitching composition.
- the plurality of magnetic pole parts 11 are magnetized along the axial direction of the rotor disc 1 , therefore, the axial direction of the rotor disc 1 is also the magnetization direction of the encoder 100 .
- the setting quantity of the magnetic pole parts 11 and the setting data of the magnetic sensor 21 are not limited, and can be set according to actual needs; for example, in this embodiment, the magnetic pole parts 11 are provided with 4 pairs, and the magnetic sensor 21 Can be set to 6.
- the setting quantity of the magnetic pole parts 11 and the setting quantity of the magnetic sensors 21 can determine the setting quantity of the decoding area; Once the arrangement position of the sensor 21 on the stator plate 2 is determined, the positions of the plurality of decoding areas can also be uniquely and accurately determined.
- each decoding area is arranged in a decoding sequence, wherein the first decoding area is the decoding area before the second decoding area.
- the first decoding area and the second decoding area can be two adjacent decoding areas, or it can be set as several other decoding areas between the first decoding area and the second decoding area; the first decoding area can be The area to be decoded first among the plurality of decoding areas may be a decoding area located at any position among the plurality of decoding areas.
- the selection of the first decoding area and the second decoding area is not limited, and it can be one of multiple decoding areas.
- the first two can also be the two decoding areas closer to the middle; but generally, the position error generated by the encoder 100 changes in real time during its operation, so in this embodiment, in the multiple decoding areas , in every two adjacent decoding areas, the first decoding area is defined as the first decoding area, and the second decoding area is defined as the second decoding area.
- the decoding area in the middle is both the former
- the second decoding area of a decoding area is the third decoding area of the subsequent decoding area.
- the magnetic sensor 21 can be a magnetoresistive sensor or a Hall sensor 211, and in this embodiment , the magnetic sensor 21 is specifically configured as a Hall sensor 211 .
- the arrangement dimensions of the plurality of magnetic pole parts 11 on the rotor disc 1 can be set to be the same, and the arrangement distances of the plurality of magnetic sensors 21 on the stator disc 2 can be set to be equidistant.
- stator disk 2 when one end surface of the stator disk 2 is provided with a plurality of magnetic sensors 21 distributed along the circumferential direction, and the moving subdisk 1 is provided with a plurality of magnetic pole parts 11 distributed along the circumferential direction, At least some of the magnetic pole parts 11 have different sizes.
- stator disk 2 when one end surface of the stator disk 2 is provided with a plurality of magnetic sensors 21 distributed along the circumferential direction, and the moving subdisk 1 is provided with a plurality of magnetic pole parts 11 distributed along the circumferential direction, The distances between every two adjacent magnetic sensors 21 are at least partially set differently.
- the dimensions of the plurality of magnetic pole portions 11 include a length dimension along the circumferential direction of the rotor disc 1 . That is, each of the magnetic pole parts 11 is on the movable sub-disc 1, and on the circumference formed by the common arrangement of a plurality of the magnetic pole parts 11, the corresponding part of the magnetic pole parts 11 occupies different lengths on the circumference. , which is a reasonable distribution based on mathematical calculations.
- the plurality of magnetic pole portions 11 include a plurality of first magnetic pole portions 11 a and a plurality of second magnetic pole portions 11 b arranged alternately, wherein each of the first magnetic pole portions 11 a and each of the second magnetic pole portions The polarities of the two magnetic pole portions 11b are opposite. That is, one of the first magnetic pole portion 11a and the second magnetic pole portion 11b is an N pole, and the other is an S pole, and the moving sub-disc 1 is distributed with alternately arranged N poles and S poles on the circumference.
- first magnetic pole portions 11a and the plurality of second magnetic pole portions 11b some of the first magnetic pole portions 11a have different sizes, some of the second magnetic pole portions 11b have different sizes, or some of the second magnetic pole portions 11b have different sizes.
- Part of the first magnetic pole part 11a and part of the second magnetic pole part 11b have different sizes, or all of the above conditions exist, so the N pole and S pole are unevenly distributed on the circumference of the moving sub-disc 1, specifically , the magnetic sensor 21 outputs a rectangular wave signal, which can accurately sense the state.
- the mover disc 1 has a magnetic ring, and a plurality of magnetic regions distributed along the circumferential direction of the mover disc 1 are formed on the magnetic ring to form a plurality of the The first magnetic pole portion 11a and the plurality of second magnetic pole portions 11b. That is, the plurality of first magnetic pole portions 11a and the plurality of second magnetic pole portions 11b are continuously arranged along the circumferential direction.
- the magnetic ring is magnetized along the axial direction, and the magnetic sensor 21 detects the magnitude and direction of the axial magnetic field to calculate the position.
- the moving sub-disk 1 has a plurality of magnetic blocks arranged at intervals along the circumferential direction, and each of the magnetic blocks forms a first magnetic pole at both ends of the moving sub-disc 1 in the circumferential direction. part 11a and a second magnetic pole part 11b.
- Each of the magnetic blocks can be understood as a magnet with an N pole and an S pole. With such an arrangement, a plurality of the magnetic blocks can be magnetized respectively to obtain the corresponding first magnetic pole portion 11a and the second magnetic pole portion 11b, which is more convenient to magnetize than the arrangement of magnetic rings, and reduces the difficulty of processing .
- each of the magnetic blocks is magnetized along the axial direction. Ideally, the distance between each of the magnetic blocks is the same.
- This setting is to obtain better results based on the arrangement of a plurality of the magnetic blocks. , so that there is a certain gap between the magnetic blocks, but in actual engineering practice, in order to compensate for the distortion of the magnetic field, the distance between the magnetic blocks will be adjusted, and there is a difference.
- the magnetism of the plurality of magnetic pole portions 11 is the same, the plurality of magnetic pole portions 11 are arranged at intervals, and the distances between at least some of the magnetic pole portions 11 are different. That is, the magnetic pole distribution on the entire circumference is a single magnetic pole, and the polarity of each magnetic pole portion 11 is N pole or S pole. Compared with the way of setting two kinds of magnetic poles, it can be understood that the corresponding S pole or N pole is left blank, and the length of the blank position is the corresponding length of the magnetic pole part 11. Such setting does not affect the magnetic induction and the magnetic sensor 21 The overall principle of position decoding, and the material saved. It should be noted that in this structural state, the arrangement of the single magnetic pole has no absolute magnetic field zero crossing point after the magnetic field is formed, so the signal processing will be different, and no detailed description will be given here.
- FIG. 4 is a schematic structural diagram of an encoder position compensation device 3 in a hardware operating environment involved in the embodiment of the present application.
- the encoder position compensation device 3 may include: a processor 31 , such as a central processing unit 31 (Central Processing Unit, CPU), a communication bus 32 , a user interface 33 , a network interface 34 , and a memory 35 .
- the processor 31 includes a required position calculation unit, for example, the position calculation unit can measure the magnitude and direction of the magnetic field generated by the moving sub-disc 1 through the Hall sensor 211, and calculate the distance between the stator disc 2 and the moving sub-disc 1. Relative corner.
- the communication bus 32 is used to realize connection communication between these components.
- the user interface 33 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 33 may also include a standard wired interface and a wireless interface.
- the network interface 34 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (WIreless-FIdelity, WI-FI) interface).
- the memory 35 may be a high-speed random access memory 35 (Random Access Memory, RAM) memory 35 , or a stable non-volatile memory 35 (Non-Volatile Memory, NVM), such as a disk memory 35 .
- the memory 35 may also be a storage device independent of the aforementioned processor 31 .
- FIG. 4 does not constitute a limitation on the position compensation device 3 of the encoder, and may include more or less components than those shown in the figure, or combine certain components, or have different Part placement.
- the memory 35 as a storage medium may include an operating system, a network communication module, a user interface 33 module and a position compensation program of the encoder 100 .
- the network interface 34 is mainly used for data communication with the network server; the user interface 33 is mainly used for data interaction with the user; in this application, the position compensation device of the encoder
- the processor 31 and memory 35 of 3 can be set in the encoder 100, and the position compensation device 3 of the encoder calls the position compensation program of the encoder 100 stored in the memory 35 through the processor 31, and executes the The position compensation method of the encoder 100.
- the encoder 100 includes a main body and a position compensation device 3 of the encoder, the main body includes a stator disk 2 and a movable sub-disk 1 that rotates relative to the stator disk 2, the The moving sub-disk 1 and the stator disc 2 define a plurality of decoding areas, and the moving sub-disk 1 generates a magnetic field during its rotation stroke, so that the stator disc 2 can detect each decoding area in sequence.
- the two decoding areas include a first decoding area and a second decoding area.
- FIG. 5 is a schematic flowchart of a first embodiment of a method for position compensation of an encoder 100 of the present application.
- the position compensation method of the encoder 100 includes the following steps:
- Step S100 Obtain the first decoding information of the encoder 100 in the first decoding area
- the first detection information of the stator disk 2 at the first decoding area can be obtained, and the first detection information is a detection signal output directly, or a plurality of magnetic sensors 21
- the multi-channel detection signals formed by superimposition according to the set rules. Gray code calculation is performed on the first detection signal to obtain the first position information of the movable sub-disc 1 in the first decoding area.
- the first position information is regarded as the reference information of the subsequent decoding area, and is basically regarded as the precise position information of the moving sub-disk 1 in the first decoding area.
- Step S200 According to the first decoding information, calculate the theoretical detection information of the stator disk 2 in the second decoding area;
- the first decoding information may be the first detection information of the stator disc 2 in the first decoding area, and/or the moving sub disc 1 in the first decoding area.
- the first location information of the area or other information obtainable through decoding and calculation.
- the position compensation device 3 of the encoder uses the obtained first decoding information as reference information, and can calculate the position of the stator disk 2 in the second decoding area through the reaction formula between the preset first decoding information and the theoretical detection information.
- Theoretical detection information or through the one-to-one mapping association table between the preset first decoding information and the theoretical detection information, look up the table to obtain the theoretical detection information of the stator disk 2 in the second encrypted area.
- other algorithms may also be used to determine the theoretical detection information.
- Step S300 Obtain the second position information of the moving disc 1 in the second decoding area and the second detection information of the stator disc 2 in the second decoding area;
- the second decoding information of the encoder 100 in the second decoding area can be obtained, and the second decoding The information includes the second position information of the rotor disk 1 in the second decoding area and the second detection information of the stator disk 2 in the second decoding area.
- the second position information is determined by decoding the second detection information after performing the above gray code calculation. It can be understood that the second position information and the second detection information are actual measured values generated by the encoder 100 under the influence of an axial runout error.
- Step S400 Calculate error information according to the theoretical detection information and the second detection information
- the theoretical position information of the moving sub-disk 1 in the second decoding area can also be estimated from the first decoding information, and then another error information can be obtained by comparing the theoretical position information with the second position information , but because in actual application, multiple magnetic sensors 21 respectively sense the position of the same magnetic pole part 11, especially when the sizes of the multiple magnetic pole parts 11 are at least partly different from each other, so that multiple magnetic sensors 21 can detect the position of each magnetic pole
- the detection signal obtained during the detection of the part 11 is multi-channel superimposed, and the single-point value calculation is only performed through the theoretical position information and the second position information, and the existing deviation is relatively large, for example, it is applicable to the position error of each decoding area of the encoder 100 The difference is smaller than the preset usage scenario.
- Step S500 Compensate the second position information according to the error information to obtain target position information.
- the error information when the error information has been determined, the error information can be applied to compensate the second position information, such as directly correcting the second detection signal, or converting it into a compensation value of the position information according to a set algorithm , to directly compensate the second position information, or more accurate target position information.
- the first decoding information actually output by the encoder 100 in the first decoding area can be obtained, and the first decoding information can be used as a reference for calculation; since each decoding area has a clear position in the encoder 100 And fixed, according to the first decoding information obtained at the first decoding area, that is, the theoretical decoding information of the encoder 100 in the second decoding area can be deduced through preset rules, and the theoretical decoding information includes the theoretical detection information of the stator disk 2 ; Next, obtain the second decoding information actually output by the encoder 100 in the second decoding area, the second detection information includes the second detection information of the stator disk 2 and the second position information of the moving sub disk 1; by combining the theoretical detection information with Comparing the second detection information, the error information can be calculated; by using the error information as compensation for the second position information, the distance between the stator disk 2 and the moving sub disk 1 in the magnetization direction of the encoder 100 can be eliminated error, to obtain more accurate target position information in
- FIG. 6 is a schematic flowchart of a second embodiment of a position compensation method for the encoder 100 of the present application.
- step S100 the acquisition of the first decoding information of the encoder 100 in the first decoding area specifically includes:
- Step S110 Obtain the first detection information of the stator disk 2 in the first decoding area
- Step S120 According to the first detection information, calculate the first position information of the moving sub-disk 1 in the first decoding area.
- the first detection information can be directly obtained by reading the sensing data of the magnetic sensor 21, the processor 31 in the position compensation device 3 of the encoder includes a position calculation unit, and the position calculation unit is configured
- the decoding program can solve each detection signal obtained by sensing to obtain the corresponding position information. Therefore, when the position calculation unit receives the first detection information of the stator plate 2 in the first decoding area, the first The detection signal is calculated to obtain the first position information of the sub-disk in the first decoding area.
- FIG. 7 is a schematic flowchart of a third embodiment of a method for position compensation of the encoder 100 of the present application.
- step S200 according to the first decoding information, the theoretical detection information of the stator disk 2 in the second decoding area is estimated, specifically including:
- Step S210 According to the first position information and a preset algorithm, determine the rotation speed of the rotor disk 1 relative to the stator disk 2;
- Step S220 Estimate the theoretical position information of the moving sub-disk 1 in the second decoding area according to the rotation speed
- Step S230 Estimate theoretical detection information of the stator disk 2 in the second decoding area according to the theoretical position information.
- the rotational speed of the movable sub-disk 1 relative to the stator disc 2 can be estimated;
- the theoretical position information of the sub-disc 1 in the second decoding area is obtained, and then, in the same way as above, reverse decoding is performed according to the theoretical position information to determine the theoretical detection information of the stator disc 2 in the second decoding area.
- the preset algorithm includes a differential algorithm or a phase-locked loop algorithm.
- both the differential algorithm and the phase-locked loop algorithm are mature technologies, and details are not described here. Of course, other technologies can also be used to calculate the rotation angle of the rotor disk 1 relative to the stator disk 2 through position information, which will not be described in detail here.
- the position compensation device 3 of the encoder has pre-compiled the differential algorithm and/or phase-locked loop algorithm, and after the position compensation device 3 of the encoder receives the first position information, it can directly obtain the relative position of the movable sub-disc 1. The rotational speed of the stator disk 2 .
- every two adjacent decoding areas form the first decoding area and the second decoding area respectively.
- the above-mentioned process from step S100 to step S500 can be repeated to form a closed-loop feedback, so that the encoder 100 can
- position compensation is performed in real time, so that each calculation output of the encoder 100 is more accurate target position information after compensation and correction.
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Abstract
本申请公开一种编码器及其位置补偿方法、装置和存储介质，编码器的位置补偿方法包括：获取编码器在第一解码区域的第一解码信息；根据第一解码信息，推算定子盘在第二解码区域的理论检测信息；获取动子盘在第二解码区域的第二位置信息和定子盘在第二解码区域的第二检测信息；根据理论检测信息和第二检测信息，计算误差信息；根据误差信息，对第二位置信息进行补偿，获得目标位置信息。
Description
本申请要求于2021年8月20日申请的、申请号为202110964684.7的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
本申请涉及测量设备技术领域，具体涉及一种编码器及其位置补偿方法、装置和存储介质。
旋转编码器是一种检测旋转体相对于固定体的旋转位置的装置，具体是将信号或数据进行编制、转换为可用以通讯、传输和存储的信号形式的设备。其中，旋转编码器可将被测的角位移直接转换成数字信号，在自动测控系统中有广泛的应用。旋转编码器包括磁编码器，在安装于电机转轴外侧时，受安装精度与电机振动等的影响，磁编码器在使用过程中存在一定的位置检测误差，降低磁编码器的测量精度。
本申请的主要目的是提出一种编码器及其位置补偿方法、装置和存储介质，旨在解决传统磁编码器容易产生位置检测误差而导致测量精度降低的问题。
为实现上述目的，本申请提出的一种编码器的位置补偿方法，所述编码器包括定子盘和相对所述定子盘转动的动子盘，所述动子盘和所述定子盘限定出多个解码区域，所述动子盘在其转动行程中产生磁场，以供所述定子盘依次对每一所述解码区域进行检测，多个所述解码区域包括第一解码区域和第二解码区域；所述编码器的位置补偿方法包括：
获取编码器在第一解码区域的第一解码信息；
根据所述第一解码信息，推算定子盘在第二解码区域的理论检测信息；
获取动子盘在第二解码区域的第二位置信息和定子盘在第二解码区域的第二检测信息；
根据所述理论检测信息和所述第二检测信息，计算误差信息；
根据所述误差信息，对所述第二位置信息进行补偿，获得目标位置信息。
在一实施例中，所述获取编码器在第一解码区域的第一解码信息的步骤包括：
获取定子盘在第一解码区域的第一检测信息；
根据所述第一检测信息，解算动子盘在所述第一解码区域的第一位置信息。
在一实施例中，所述根据所述第一解码信息，推算定子盘在第二解码区域的理论检测信息的步骤包括：
根据所述第一位置信息和预设算法，确定所述动子盘相对所述定子盘的旋转速度；
根据所述旋转速度，推算所述动子盘在第二解码区域的理论位置信息；
根据所述理论位置信息，推算所述定子盘在第二解码区域的理论检测信息。
在一实施例中，所述预设算法包括微分算法或者锁相环算法。
在一实施例中，多个所述解码区域中，相邻的每两个所述解码区域分别构成所述第一解码区域及所述第二解码区域。
此外，为实现上述目的，本申请还提供一种编码器的位置补偿装置，包括存储器、处理器及存储在所述存储器上并可在所述处理器上运行的编码器的位置补偿程序，所述编码器的位置补偿程序配置为实现如上所述的编码器的位置补偿方法的步骤。
此外，为实现上述目的，本申请还提供一种编码器，包括：
主体，所述主体包括定子盘和相对所述定子盘转动的动子盘，所述动子盘和所述定子盘限定出多个解码区域，所述动子盘在其转动行程中产生磁场，以供所述定子盘依次对每一所述解码区域进行检测，多个所述解码区域包括第一解码区域和第二解码区域；以及，
编码器的位置补偿装置，所述编码器的位置补偿装置包括存储器、处理器及存储在所述存储器上并可在所述处理器上运行的编码器的位置补偿程序，所述编码器的位置补偿程序配置为实现如上所述的编码器的位置补偿方法的步骤。
在一实施例中，所述定子盘的一端面设有沿周向分布的多个磁传感器，所述动子盘设置有沿周向分布的多个磁极部；
其中，至少部分所述磁极部的尺寸相异设置。
在一实施例中，多个所述磁极部包括交错设置的多个第一磁极部和多个第二磁极部，各所述第一磁极部和各所述第二磁极部的极性相反。
此外，为实现上述目的，本申请还提供一种存储介质，所述存储介质上存储有编码器的位置补偿程序，所述编码器的位置补偿程序被处理器执行时实现如上所述的编码器的位置补偿方法的步骤。
本申请提供的技术方案中，获取编码器在第一解码区域实际输出的第一解码信息，可以将第一解码信息作为解算基准；由于各个解码区域在编码器中位置明确且固定，根据第一解码区域处获得的第一解码信息，即能够通过预设规则推算出编码器在第二解码区域的理论解码信息，所述理论解码信息包括定子盘的理论检测信息；接着，获取编码器在第二解码区域实际输出的第二解码信息，第二检测信息包括定子盘的第二检测信息及动子盘的第二位置信息；通过将理论检测信息与第二检测信息进行比对，可计算出误差信息；通过将误差信息用作第二位置信息的补偿，即能够消除定子盘与动子盘在编码器的充磁方向上产生的间距误差，获得更为精确的第二解码区域的目标位置信息，提高编码器的检测精度。
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图示出的结构获得其他的附图。
图1为本申请提供的编码器的一实施例的示意图；
图2为图1中动子盘的仰视示意图；
图3为图1中定子盘的俯视示意图；
图4为本申请提供的编码器的位置补偿装置的硬件运行环境示意图；
图5为本申请提供的编码器的位置补偿方法的第一实施例的示意图；
图6为本申请提供的编码器的位置补偿方法的第二实施例的示意图；
图7为本申请提供的编码器的位置补偿方法的第三实施例的示意图；
图8为本申请提供的编码器的位置补偿方法的一实施例的流程示意图。
附图标号说明：
| 标号 | 名称 | 标号 | 名称 |
| 100 | 编码器 | 211 | 霍尔传感器 |
| 1 | 动子盘 | 3 | 编码器的位置补偿装置 |
| 11 | 磁极部 | 31 | 处理器 |
| 11a | 第一磁极部 | 32 | 通信总线 |
| 11b | 第二磁极部 | 33 | 用户接口 |
| 2 | 定子盘 | 34 | 网络接口 |
| 21 | 磁传感器 | 35 | 存储器 |
本申请目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请的一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
需要说明，若本申请实施例中有涉及方向性指示（诸如上、下、左、右、前、后……），则该方向性指示仅用于解释在某一特定姿态（如附图所示）下各部件之间的相对位置关系、运动情况等，如果该特定姿态发生改变时，则该方向性指示也相应地随之改变。
另外，若本申请实施例中有涉及“第一”、“第二”等的描述，则该“第一”、“第二”等的描述仅用于描述目的，而不能理解为指示或暗示其相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。另外，全文中出现的“和/或”的含义，包括三个并列的方案，以“A和/或B”为例，包括A方案、或B方案、或A和B同时满足的方案。另外，各个实施例之间的技术方案可以相互结合，但是必须是以本领域普通技术人员能够实现为基础，当技术方案的结合出现相互矛盾或无法实现时应当认为这种技术方案的结合不存在，也不在本申请要求的保护范围之内。
旋转编码器是一种检测旋转体相对于固定体的旋转位置的装置，具体是将信号或数据进行编制、转换为可用以通讯、传输和存储的信号形式的设备。其中，旋转编码器可将被测的角位移直接转换成数字信号，在自动测控系统中有广泛的应用。旋转编码器包括磁编码器，在安装于电机转轴外侧时，受安装精度与电机振动等的影响，磁编码器在使用过程中存在一定的位置检测误差，降低磁编码器的测量精度。
鉴于上述，本申请提供一种编码器的位置补偿装置，用于对编码器输出的检测数据进行补偿修正。所述编码器的位置补偿装置可以应用在编码器上，因此，本申请还提供一种编码器，所述编码器包括主体和所述编码器的位置补偿装置。
请参阅图1至图4，附图所示为本申请提供的编码器的具体实施例。
请参阅图1至图3，所述编码器100的主体包括定子盘2和相对所述定子盘2转动的动子盘1，所述动子盘1和所述定子盘2限定出多个解码区域，所述动子盘1在其转动行程中产生磁场，以供所述定子盘2依次对每一所述解码区域进行检测，多个所述解码区域包括第一解码区域和第二解码区域。
可以理解，所述定子盘2和所述动子盘1各自的形状不做限制，可以呈圆形、椭圆形、多边形或者其他异形等，可以根据实际需要进行设置。而在本实施例中，所述定子盘2和所述动子盘1大致呈圆盘状。
所述定子盘2包括盘状本体和设于所述盘状本体的一端面的多个磁传感器21，多个所述磁传感器21沿所述盘状本体的环周方向布设。
所述动子盘1与所述定子盘2同轴连接，且所述动子盘1可在外力驱动下相对所述定子盘2转动，所述动子盘1沿其环周方向布设有多个磁极部11。可以理解，所述动子盘1同样可以包括盘状本体，多个磁极部11布设在动子盘1的盘状本体上；或者，所述动子盘1可以直接由多个所述磁极部11拼接构成。多个磁极部11沿所述动子盘1的轴向充磁，因此，所述动子盘1的轴向也即所述编码器100的充磁方向。
所述磁极部11的设置数量和所述磁传感器21的设置数据均不做限制，可以根据实际需要进行设置；例如本实施例中，所述磁极部11设有4对，所述磁传感器21可以设置为6个。
所述磁极部11的设置数量以及所述磁传感器21的设置数量，可确定出解码区域的设置数量；而多个所述磁极部11在动子盘1上的布设位置和多个所述磁传感器21在定子盘2上的布设位置一经确定，多个所述解码区域的位置也可唯一且准确地确定出。
所述动子盘1相对所述定子盘2转动时，所述动子盘1产生磁场，所述定子盘2上的各传感器依次对各解码区域进行感测。为便于理解，定义各解码区域按照先后解码顺序进行排列，其中，第一解码区域为位于第二解码区域之前的解码区域。
具体而言，第一解码区域和第二解码区域可以是相邻的两个解码区域，也可以设置为第一解码区域与第二解码区域的中间间隔若干其他解码区域；第一解码区域可以是多个解码区域中最先进行解码的区域，也可以是位于多个解码区域中的任一位置处的解码区域。
当所述编码器100在运行过程中，其产生的位置误差差异较小，此时，所述第一解码区域和所述第二解码区域的选取不做限制，可以是多个解码区域中的前两个，也可以是更靠近中部的两个解码区域；但一般地，所述编码器100在其运行过程中，产生的位置误差实时变化，因此在本实施例中，多个解码区域中，相邻的每两个解码区域中先进行解码的均定义为第一解码区域，后进行解码的均定义为第二解码区域，例如在前三个解码区域中，位于中间的解码区域既是前一解码区域的第二解码区域，又是后一解码区域的第三解码区域。
需要说明的是，本设计对所述磁传感器21的种类不做限制，在具体应用时，所述磁传感器21可以是磁阻式传感器，也可以是霍尔传感器211，而在本实施例中，所述磁传感器21具体设置为霍尔传感器211。
此外，多个磁极部11在动子盘1上的设置尺寸可以设置为相同，以及多个所述磁传感器21在定子盘2上的布设距离可设置为等距。
或者，在一实施例中，当所述定子盘2的一端面设有沿周向分布的多个磁传感器21，所述动子盘1设置有沿周向分布的多个磁极部11时，至少部分所述磁极部11的尺寸相异设置。
或者，在一实施例中，当所述定子盘2的一端面设有沿周向分布的多个磁传感器21，所述动子盘1设置有沿周向分布的多个磁极部11时，相邻的每两个所述磁传感器21之间的间距至少部分相异设置。
以至少部分所述磁极部11的尺寸相异设置为例：
多个所述磁极部11的尺寸包括沿所述动子盘1的周向上的长度尺寸。即各所述磁极部11在所述动子盘1上，在多个所述磁极部11共同排布所形成的圆周上，对应的部分所述磁极部11的在圆周上所占长度不相同，这是根据数学计算得到的合理分布方式。
进一步的，请参照图2，多个所述磁极部11包括交错设置的多个第一磁极部11a和多个第二磁极部11b，其中，各所述第一磁极部11a和各所述第二磁极部11b的极性相反。即所述第一磁极部11a和所述第二磁极部11b一者为N极，另一为S极，所述动子盘1在圆周上分布着交错设置的N极和S极，由于多个所述第一磁极部11a和多个所述第二磁极部11b中，存在部分所述第一磁极部11a的尺寸不同，或者存在部分所述第二磁极部11b的尺寸不相同，或者存在部分所述第一磁极部11a和部分所述第二磁极部11b的尺寸不同，或者以上情况均存在，因此N极和S极呈不均匀分布在所述动子盘1的圆周上，具体的，所述磁传感器21输出矩形波信号，能够精确的感测状态。
在本申请的一实施例中，所述动子盘1具有一磁环，所述磁环上形成有多个沿着所述动子盘1的周向分布的磁区，以形成多个所述第一磁极部11a和多个所述第二磁极部11b。即多个所述第一磁极部11a和多个所述第二磁极部11b沿周向连续设置。此结构状态下，所述磁环沿着轴向充磁，所述磁传感器21检测轴向的磁场大小和方向，进行位置的解算。
在另一实施例中，所述动子盘1具有多个沿周向间隔设置的磁块，各所述磁块在所述动子盘1周向上的两端分别形成一所述第一磁极部11a和一所述第二磁极部11b。各所述磁块可以理解为一具有N极和S极的磁铁。如此设置，可以对多个所述磁块分别进行充磁得到对应的所述第一磁极部11a和所述第二磁极部11b，相较于磁环的设置方式充磁更方便，降低加工难度。需要说明的是，各所述磁块沿着轴向充磁，理想状态下各所述磁块之间的间距相同，该设置目的是基于多个所述磁块的排布得到较好的效果，使得各所述磁块之间存在一定的间隙，但是在实际工程实践时，为了补偿磁场的畸变，设置各所述磁块之间的间距会进行调整，存在不相同。
在其他实施例中，多个所述磁极部11的磁性相同，多个所述磁极部11间隔设置，且至少部分所述磁极部11之间的间距不相同。即整个圆周上的磁极分布均为单磁极，各所述磁极部11的极性为N极或者S极。相对于设置两种磁极的方式，可以理解为对应的S极或者N极进行留空处理，留空位置的长度即对应的所述磁极部11的长度，如此设置不影响磁感应和所述磁传感器21进行位置解码的整体原理，并且节省的材料。需要说明的是，该结构状态下，单磁极的设置方式在形成磁场后没有绝对的磁场过零点，因此在信号处理上会有所不同，在此不做详细说明。
参照图4，图4为本申请实施例方案涉及的硬件运行环境的编码器的位置补偿装置3的结构示意图。
如图4所示，该编码器的位置补偿装置3可以包括：处理器31，例如中央处理器31（Central Processing Unit，CPU），通信总线32、用户接口33，网络接口34，存储器35。其中，处理器31包括所需的例如位置解算单元，位子解算单元可通过霍尔传感器211测量动子盘1产生的磁场大小和方向，解算出定子盘2与动子盘1之间的相对转角。通信总线32用于实现这些组件之间的连接通信。用户接口33可以包括显示屏（Display）、输入单元比如键盘（Keyboard），可选用户接口33还可以包括标准的有线接口、无线接口。网络接口34可选的可以包括标准的有线接口、无线接口（如无线保真（WIreless-FIdelity，WI-FI）接口）。存储器35可以是高速的随机存取存储器35（Random Access Memory，RAM）存储器35，也可以是稳定的非易失性存储器35（Non-Volatile Memory，NVM），例如磁盘存储器35。存储器35可选的还可以是独立于前述处理器31的存储装置。
本领域技术人员可以理解，图4中示出的结构并不构成对编码器的位置补偿装置3的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置。
如图4所示，作为一种存储介质的存储器35中可以包括操作系统、网络通信模块、用户接口33模块以及编码器100的位置补偿程序。
在图4所示的编码器的位置补偿装置3中，网络接口34主要用于与网络服务器进行数据通信；用户接口33主要用于与用户进行数据交互；本申请中，编码器的位置补偿装置3的处理器31、存储器35可以设置在编码器100中，所述编码器的位置补偿装置3通过处理器31调用存储器35中存储的编码器100的位置补偿程序，并执行本申请实施例提供的编码器100的位置补偿方法。
基于上述编码器100的结构，具体例如，所述编码器100包括主体和编码器的位置补偿装置3，所述主体包括定子盘2和相对所述定子盘2转动的动子盘1，所述动子盘1和所述定子盘2限定出多个解码区域，所述动子盘1在其转动行程中产生磁场，以供所述定子盘2依次对每一所述解码区域进行检测，多个所述解码区域包括第一解码区域和第二解码区域。
本申请实施例提供了一种编码器100的位置补偿方法，参照图5，图5为本申请一种编码器100的位置补偿方法的第一实施例的流程示意图。
请同时结合图8，本实施例中，所述编码器100的位置补偿方法包括以下步骤：
步骤S100：获取编码器100在第一解码区域的第一解码信息；
可以理解，当所述编码器100开始工作时，可获得定子盘2在第一解码区域处的第一检测信息，所述第一检测信息是直接输出的一路检测信号，或者是多个磁传感器21按照设定规则叠加构成的多路检测信号。所述第一检测信号进行灰码计算，可获得动子盘1在第一解码区域的第一位置信息。可以理解的是，所述第一位置信息被认定为后续解码区域的基准信息，基本认定为动子盘1在第一解码区域的精确位置信息。
步骤S200：根据所述第一解码信息，推算定子盘2在第二解码区域的理论检测信息；
在本实施例中，鉴于上述，所述第一解码信息可以是所述定子盘2在所述第一解码区域的第一检测信息、和/或所述动子盘1在所述第一解码区域的第一位置信息，或者是其他通过解码计算可获得的信息。所述编码器的位置补偿装置3将获得的第一解码信息作为基准信息，可以通过预设的第一解码信息与理论检测信息之间的反应式，计算出定子盘2在第二解码区域的理论检测信息；或者通过预设的第一解码信息与理论检测信息之间的一一映射关联表，查表获得定子盘2在第二加密区域的理论检测信息。当然，也可以通过其他算法，来确定出所述理论检测信息。
步骤S300：获取动子盘1在第二解码区域的第二位置信息和定子盘2在第二解码区域的第二检测信息；
在本实施例中，当所述动子盘1继续相对所述定子盘2转动后，与上述同理地，可获得编码器100在第二解码区域的第二解码信息，所述第二解码信息包括动子盘1在第二解码区域的第二位置信息和定子盘2在第二解码区域的第二检测信息。其中，第二位置信息是所述第二检测信息进行上述灰码计算后解码确定出的。可以理解，所述第二位置信息和所述第二检测信息为所述编码器100在受到轴向跳动误差的影响下，所产生的实测值。
步骤S400：根据所述理论检测信息和所述第二检测信息，计算误差信息；
当然，也可以在上述步骤S200中，通过第一解码信息推算出动子盘1在第二解码区域的理论位置信息，然后通过将理论位置信息和第二位置信息进行比对，获得另一误差信息，但由于在实际应用时，多个磁传感器21分别对同一磁极部11所在位置进行感测，尤其在多个磁极部11的尺寸至少部分相异设置时，使得多个磁传感器21对各磁极部11检测时获得的检测信号是多路叠加的，仅仅通过理论位置信息与第二位置信息进行单点值计算，存在的偏差相对较大，例如可适用于编码器100各解码区域的位置误差的差异小于预设的使用场景。
而本实施例中，通过将理论检测信息与第二检测信息进行比对，相当于从源信号进行比对处理，能够获得更为精确的误差信息，尤其适用于上述中，各磁极部11至少部分的尺寸相异、或者各磁传感器21的至少部分的间距相异的使用场景。
步骤S500：根据所述误差信息，对所述第二位置信息进行补偿，获得目标位置信息。
可以理解，当所述误差信息已经确定出，可将所述误差信息应用于对第二位置信息进行补偿，例如直接对第二检测信号进行修正，或者按照设定算法转换为位置信息的补偿值，直接对第二位置信息进行补偿，或者更为精确的目标位置信息。
基于上述，本申请提供的技术方案中，获取编码器100在第一解码区域实际输出的第一解码信息，可以将第一解码信息作为解算基准；由于各个解码区域在编码器100中位置明确且固定，根据第一解码区域处获得的第一解码信息，即能够通过预设规则推算出编码器100在第二解码区域的理论解码信息，所述理论解码信息包括定子盘2的理论检测信息；接着，获取编码器100在第二解码区域实际输出的第二解码信息，第二检测信息包括定子盘2的第二检测信息及动子盘1的第二位置信息；通过将理论检测信息与第二检测信息进行比对，可计算出误差信息；通过将误差信息用作第二位置信息的补偿，即能够消除定子盘2与动子盘1在编码器100的充磁方向上产生的间距误差，获得更为精确的第二解码区域的目标位置信息，提高编码器100的检测精度。
进一步地，请参照图6，图6为本申请一种编码器100的位置补偿方法的第二实施例的流程示意图。
如上所述，在步骤S100：所述获取编码器100在第一解码区域的第一解码信息中，具体包括：
步骤S110：获取定子盘2在第一解码区域的第一检测信息；
步骤S120：根据所述第一检测信息，解算动子盘1在所述第一解码区域的第一位置信息。
在本实施例中，第一检测信息可直接通过读取所述磁传感器21的感测数据获得，编码器的位置补偿装置3中的处理器31包括位置解算单元，位置解算单元设有解码程序，能够对感测获得的每一检测信号进行解算，获得对应的位置信息，因此，当位置解算单元接收到定子盘2在第一解码区域的第一检测信息时，对第一检测信号进行解算，可获得子盘在所述第一解码区域的第一位置信息。
进一步地，请参照图7，图7为本申请一种编码器100的位置补偿方法的第三实施例的流程示意图。
如上所述，在步骤S200：所述根据所述第一解码信息，推算定子盘2在第二解码区域的理论检测信息中，具体包括：
步骤S210：根据所述第一位置信息和预设算法，确定所述动子盘1相对所述定子盘2的旋转速度；
步骤S220：根据所述旋转速度，推算所述动子盘1在第二解码区域的理论位置信息；
步骤S230：根据所述理论位置信息，推算所述定子盘2在第二解码区域的理论检测信息。
在本实施例中，由于各解码区域的相对位置关系确定，根据所述第一位置信息，可以估算出动子盘1相对定子盘2的旋转速度；而通过所所述旋转速度，即可进一步计算出动子盘1在第二解码区域的理论位置信息，然后与上述同理地，根据理论位置信息进行反向解码，可确定出定子盘2在第二解码区域的理论检测信息。
进一步地，在一实施例中，所述预设算法包括微分算法或者锁相环算法。
可以理解，所述微分算法和所述锁相环算法均为成熟技术，此处不做赘述。当然，还可以应用其他技术来通过位置信息计算动子盘1相对定子盘2的旋转角度，此处同样不做一一详述。所述编码器的位置补偿装置3预先编译好所述微分算法和/或锁相环算法，在编码器的位置补偿装置3接收到第一位置信息后，可直接获得所述动子盘1相对所述定子盘2的旋转速度。
接着，请参阅图8，在一实施例中，多个所述解码区域中，相邻的每两个所述解码区域分别构成所述第一解码区域及所述第二解码区域。如此地，可在依次对每一组的所述第一解码区域和所述第二解码区域进行解算时，重复上述步骤S100至步骤S500的流程，形成闭环反馈，从而能够在编码器100的工作过程中，实时进行位置补偿，使得编码器100的每一解算输出，均为经过补偿校正后、更为精确的目标位置信息。
应当理解的是，以上仅为举例说明，对本申请的技术方案并不构成任何限定，在具体应用中，本领域的技术人员可以根据需要进行设置，本申请对此不做限制。
以上所述仅为本申请的优选实施例，并非因此限制本申请的专利范围，凡是在本申请的发明构思下，利用本申请说明书及附图内容所作的等效结构变换，或直接/间接运用在其他相关的技术领域均包括在本申请的专利保护范围内。
Claims (10)
- 一种编码器的位置补偿方法，其中，所述编码器包括定子盘和相对所述定子盘转动的动子盘，所述动子盘和所述定子盘限定出多个解码区域，所述动子盘在其转动行程中产生磁场，以供所述定子盘依次对每一所述解码区域进行检测，多个所述解码区域包括第一解码区域和第二解码区域；所述编码器的位置补偿方法包括：获取编码器在第一解码区域的第一解码信息；根据所述第一解码信息，推算定子盘在第二解码区域的理论检测信息；获取动子盘在第二解码区域的第二位置信息和定子盘在第二解码区域的第二检测信息；根据所述理论检测信息和所述第二检测信息，计算误差信息；根据所述误差信息，对所述第二位置信息进行补偿，获得目标位置信息。
- 如权利要求1所述的编码器的位置补偿方法，其中，所述获取编码器在第一解码区域的第一解码信息的步骤包括：获取定子盘在第一解码区域的第一检测信息；根据所述第一检测信息，解算动子盘在所述第一解码区域的第一位置信息。
- 如权利要求2所述的编码器的位置补偿方法，其中，所述根据所述第一解码信息，推算定子盘在第二解码区域的理论检测信息的步骤包括：根据所述第一位置信息和预设算法，确定所述动子盘相对所述定子盘的旋转速度；根据所述旋转速度，推算所述动子盘在第二解码区域的理论位置信息；根据所述理论位置信息，推算所述定子盘在第二解码区域的理论检测信息。
- 如权利要求3所述的编码器的位置补偿方法，其中，所述预设算法包括微分算法或者锁相环算法。
- 如权利要求1所述的编码器的位置补偿方法，其中，多个所述解码区域中，相邻的每两个所述解码区域分别构成所述第一解码区域及所述第二解码区域。
- 一种编码器的位置补偿装置，其中，包括存储器、处理器及存储在所述存储器上并可在所述处理器上运行的编码器的位置补偿程序，所述编码器的位置补偿程序配置为实现如权利要求1至5中任一项所述的编码器的位置补偿方法的步骤。
- 一种编码器，其中，包括：主体，所述主体包括定子盘和相对所述定子盘转动的动子盘，所述动子盘和所述定子盘限定出多个解码区域，所述动子盘在其转动行程中产生磁场，以供所述定子盘依次对每一所述解码区域进行检测，多个所述解码区域包括第一解码区域和第二解码区域；以及，如权利要求6所述的编码器的位置补偿装置。
- 如权利要求7所述的编码器，其中，所述定子盘的一端面设有沿周向分布的多个磁传感器，所述动子盘设置有沿周向分布的多个磁极部；其中，至少部分所述磁极部的尺寸相异设置。
- 如权利要求8所述的编码器，其中，多个所述磁极部包括交错设置的多个第一磁极部和多个第二磁极部，各所述第一磁极部和各所述第二磁极部的极性相反。
- 一种存储介质，其中，所述存储介质上存储有编码器的位置补偿程序，所述编码器的位置补偿程序被处理器执行时实现如权利要求1至5任一项所述的编码器的位置补偿方法的步骤。
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| US6622391B1 (en) * | 1999-04-28 | 2003-09-23 | Pentax Corporation | Incremental rotary encoder, and a surveying instrument incorporating a magnetic incremental rotary encoder |
| JP2011033601A (ja) * | 2009-08-06 | 2011-02-17 | Koyo Electronics Ind Co Ltd | 磁気式エンコーダにおいて磁石固定方法およびこの方法を用いた磁気式エンコーダ |
| CN105492869A (zh) * | 2013-07-12 | 2016-04-13 | Trw有限公司 | 旋转编码器 |
| CN110793430A (zh) * | 2019-12-23 | 2020-02-14 | 峰岹科技（深圳）有限公司 | 绝对电角度检测方法、系统及计算机可读存储介质 |
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| CN1197509A (zh) * | 1996-05-24 | 1998-10-28 | 精工爱普生株式会社 | 位置检测装置、编码板、位置检测方法、计时装置及电子机器 |
| US6622391B1 (en) * | 1999-04-28 | 2003-09-23 | Pentax Corporation | Incremental rotary encoder, and a surveying instrument incorporating a magnetic incremental rotary encoder |
| JP2011033601A (ja) * | 2009-08-06 | 2011-02-17 | Koyo Electronics Ind Co Ltd | 磁気式エンコーダにおいて磁石固定方法およびこの方法を用いた磁気式エンコーダ |
| CN105492869A (zh) * | 2013-07-12 | 2016-04-13 | Trw有限公司 | 旋转编码器 |
| CN110793430A (zh) * | 2019-12-23 | 2020-02-14 | 峰岹科技（深圳）有限公司 | 绝对电角度检测方法、系统及计算机可读存储介质 |
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