WO2024066472A1 - Error compensation method for sine-cosine signal, and storage medium - Google Patents

Abstract

An error compensation method for a sine-cosine signal, which method is applied to a sine-cosine encoder. The method comprises: collecting an initial absolute sine-cosine signal, which is generated by a sine-cosine encoder at the current moment (S10); acquiring an error correction parameter set, wherein the error correction parameter set includes error correction parameters determined in advance according to an incremental sine-cosine signal, a zero position signal and an absolute sine-cosine signal, which are generated by means of one rotation of the sine-cosine encoder (S20); and performing error compensation on the initial absolute sine-cosine signal according to the error correction parameter set, so as to obtain a target sine-cosine signal, wherein the target sine-cosine signal is used for determining current position information of the sine-cosine encoder (S30). Further disclosed is a storage medium.

Description

Error compensation method and storage medium for sine and cosine signals

Related Applications

This application claims priority to Chinese patent application No. 202211194356.4 filed on September 28, 2022, the entire contents of which are incorporated by reference into this application.

Technical Field

The present application relates to the technical field of encoders, and in particular to a sine and cosine signal error compensation method and storage medium.

Background technique

In the current sine-cosine encoder system, the original sine-cosine signal is generated by the relative position change of the photocell and the code disk, which includes a set of sine-cosine signals with higher resolution, such as 2048 pulses per circle, and a sine-cosine signal with one cycle generated per rotation of the encoder. This original sine-cosine signal is generally used in the subsequent circuit to adjust the amplitude and offset of the signal, such as through a potentiometer or other programmable device. The disadvantage of the above scheme is that if the output signal of the encoder is adjusted by some programmable devices, the amplitude, offset and phase difference of the sine-cosine signal can generally be adjusted, but the adjustable range is also very limited. Therefore, how to accurately compensate the error of the sine-cosine signal generated by the encoder without relying on external correction equipment has become a problem to be solved.

The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art.

Technical Solutions

The main purpose of the present application is to provide a method and storage medium for error compensation of sine and cosine signals, aiming to solve the technical problem of how to accurately compensate for the errors of sine and cosine signals generated by an encoder without relying on external correction equipment.

To achieve the above object, the present application provides a method for compensating errors of sine and cosine signals, and the method for compensating errors of sine and cosine signals comprises the following steps:

Collecting the initial absolute sine and cosine signals generated by the sine and cosine encoder at the current moment;

Acquire an error correction parameter set, wherein the error correction parameter set includes error correction parameters pre-determined based on incremental sine-cosine signals, zero position signals, and absolute sine-cosine signals generated by one rotation of the sine-cosine encoder; and

The initial absolute sin-cos signal is error compensated according to the error correction parameter set to obtain a target sin-cos signal, and the target sin-cos signal is used to determine the current position information of the sin-cos encoder.

In one embodiment, before acquiring the error correction parameter set, the method further includes:

Acquire incremental sine and cosine signals, zero position signals and absolute sine and cosine signals generated by one rotation of the sine and cosine encoder; and

The error correction parameter set is determined based on the incremental sin-cos signals, the zero position signal and the absolute sin-cos signals.

In one embodiment, the step of determining the error correction parameter set according to the incremental sin-cos signals, the zero position signal and the absolute sin-cos signals comprises:

Determining a first single-turn absolute position according to the incremental sine and cosine signals and the zero position signal;

Determining a second single-turn absolute position according to the absolute sine and cosine signals;

Determining error data of the second single-turn absolute position based on the first single-turn absolute position; and

The error correction parameter set is generated based on the error data of the second single-turn absolute position.

In one embodiment, the step of determining the first single-turn absolute position according to the incremental sine and cosine signals and the zero position signal comprises:

Determine a single-turn zero-position signal of the sine-cosine encoder according to the zero-position signal;

Performing period counting on the incremental signal according to the single-turn zero position signal to obtain a counting result; and

The first single-turn absolute position is determined according to the counting result.

In one embodiment, the error correction parameter set includes multiple groups of error correction parameters, each group of error correction parameters includes sine and cosine signal amplitudes and corresponding angle errors, or each group of error correction parameters includes sine and cosine signal angle values and corresponding angle errors.

In one embodiment, after determining the error correction parameter set according to the incremental sin-cos signals, the zero position signal and the absolute sin-cos signals, the method further comprises:

The error correction parameter set is stored at a preset location in a memory in the sine-cosine encoder.

In one embodiment, the step of performing error compensation on the initial absolute sin-cosine signal according to the error correction parameter set to obtain a target sin-cosine signal, wherein the target sin-cosine signal is used to determine the current position information of the sin-cosine encoder, comprises:

Obtaining a signal angle corresponding to the initial absolute sine and cosine signals;

Selecting an angle error corresponding to the signal angle from the error correction parameter set; and

The initial absolute sine and cosine signals are error compensated according to the angle error to obtain target sine and cosine signals, and the target sine and cosine signals are used to determine the current position information of the sine and cosine encoder.

In one embodiment, the step of performing error compensation on the initial absolute sin-cosine signal according to the error correction parameter set to obtain a target sin-cosine signal, wherein the target sin-cosine signal is used to determine the current position information of the sin-cosine encoder, comprises:

Obtaining a signal amplitude corresponding to the initial absolute sine and cosine signals;

Selecting the angle error corresponding to the signal amplitude from the error correction parameter set; and

The initial absolute sine and cosine signals are error compensated according to the angle error to obtain target sine and cosine signals, and the target sine and cosine signals are used to determine the current position information of the sine and cosine encoder.

In one embodiment, after performing error compensation on the initial absolute sin-cosine signal according to the error correction parameter set to obtain a target sin-cosine signal, and the target sin-cosine signal is used to determine the current position information of the sin-cosine encoder, the method further includes:

When the current position information does not meet the preset position condition, obtaining the current incremental sine-cosine signal, the current zero position signal and the current absolute sine-cosine signal generated by the sine-cosine encoder rotating one circle at the current moment;

Determining a current error correction parameter set based on the current incremental sin-cos signal, the current zero signal, and the current absolute sin-cos signal; and

The error correction parameter set is updated according to the current error correction parameter set.

In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, on which an error compensation program for sine and cosine signals is stored. When the error compensation program for sine and cosine signals is executed by a processor, the steps of the error compensation method for sine and cosine signals as described above are implemented.

The present application acquires the initial absolute sine-cosine signal generated by the sine-cosine encoder at the current moment, and then acquires the error correction parameter set, the error correction parameter set includes the error correction parameters determined in advance according to the incremental sine-cosine signal, the zero position signal and the absolute sine-cosine signal generated by the sine-cosine encoder rotating one circle, and then performs error compensation on the initial absolute sine-cosine signal according to the error correction parameter set to obtain the target sine-cosine signal, which is used to determine the current position information of the sine-cosine encoder. The present application acquires the initial absolute sine-cosine signal generated by the sine-cosine encoder at the current moment, and then acquires the error correction parameter set, the error correction parameter set may include parameters for error correction of the absolute sine-cosine signal, and then performs error compensation on the initial absolute sine-cosine signal according to the parameters in the error correction parameter set. Compared with the existing method of adjusting the amplitude and offset of the sine-cosine signal generated by the encoder through a potentiometer or other programmable devices, the above-mentioned method of the present application can perform error compensation on the initial absolute sine-cosine signal according to the error correction parameter set, so that the sine-cosine signal generated by the encoder can be accurately compensated for without relying on external correction equipment, and the fixed error of the sine-cosine encoder can be corrected.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a flow chart of a first embodiment of a method for compensating errors of sine and cosine signals of the present application;

FIG2 is a waveform diagram of sine and cosine signals according to an embodiment of a method for compensating sine and cosine signals of the present application;

FIG3 is a flow chart of a second embodiment of a method for compensating errors of sine and cosine signals of the present application;

FIG4 is a schematic diagram of the internal structure of a sine-cosine encoder according to an embodiment of a method for error compensation of sine-cosine signals of the present application;

FIG. 5 is a flow chart of a third embodiment of a method for compensating errors of sine and cosine signals of the present application.

The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings.

Embodiments of the present invention

It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

An embodiment of the present application provides a method for compensating errors of sine and cosine signals. Referring to FIG. 1 , FIG. 1 is a flow chart of a first embodiment of the method for compensating errors of sine and cosine signals of the present application.

In this embodiment, the error compensation method of the sine and cosine signals includes the following steps:

Step S10: collecting the initial absolute sine and cosine signals generated by the sine and cosine encoder at the current moment.

It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a central processing unit (CPU), a personal computer, etc., or an electronic device capable of realizing the above functions or a sine and cosine signal error compensation device. The CPU is taken as an example to illustrate this embodiment and the following embodiments.

The sine-cosine encoder is an incremental encoder with analog output, and its output is a sine-cosine signal. Referring to Figure 2, Figure 2 is a waveform diagram of the sine-cosine signal of an embodiment of the error compensation method of the sine-cosine signal of the present application. As shown in Figure 2, the sine-cosine signal in this embodiment may include an incremental sine-cosine signal (A, B) that generates multiple cycles (for example, 2048 cycles) in one circle, a zero position signal (Z) that generates a pulse in one circle, and an absolute sine-cosine signal (C, D) that generates one cycle in one circle. The A, B, C, D, and Z signals output by the sine-cosine encoder are generated by corresponding code channels engraved on the corresponding code disk and equipped with corresponding photocell chips.

The sine-cosine encoder in this embodiment may include a photocell chip and a code disk. The sine-cosine signal refers to the signal generated by the photocell chip. The sine-cosine signal may include an incremental sine-cosine signal, a zero-position signal and an absolute sine-cosine signal. The initial absolute sine-cosine signal refers to the absolute sine-cosine signal generated by the photocell chip inside the sine-cosine encoder at the current moment, and the initial absolute sine-cosine signal is collected after the sine-cosine encoder leaves the factory.

Step S20: Acquire an error correction parameter set, wherein the error correction parameter set includes error correction parameters that are pre-determined based on incremental sine-cosine signals, zero position signals, and absolute sine-cosine signals generated when the sine-cosine encoder rotates one circle.

In this embodiment, the error correction parameters can be determined and stored before the sine-cosine encoder leaves the factory, or can be determined and stored after the sine-cosine encoder leaves the factory. The specific parameters can be selected according to actual needs, and this embodiment does not impose specific restrictions on this.

In a specific implementation, the error correction parameter set can be determined in advance based on the incremental sin-cosine signal, zero position signal and absolute sin-cosine signal generated by one rotation of the sin-cosine encoder. The error correction parameter set may include error correction parameters corresponding to the absolute sin-cosine signal, so that the initial absolute sin-cosine signal can be error compensated according to the error correction parameters corresponding to the absolute sin-cosine signal.

Step S30: performing error compensation on the initial absolute sin-cosine signal according to the error correction parameter set to obtain a target sin-cosine signal, wherein the target sin-cosine signal is used to determine the current position information of the sin-cosine encoder.

In this embodiment, the error correction parameter set may include the error correction parameters corresponding to the absolute sin-cosine signal to perform error compensation on the initial absolute sin-cosine signal. A specific error compensation method may be to obtain the error correction parameters corresponding to the absolute sin-cosine signal from the error correction parameter set, and then adjust the initial absolute sin-cosine signal according to the error correction parameters to obtain the target sin-cosine signal. The corrected target sin-cosine signal can be used to determine the current position information of the sin-cosine encoder, thereby making the determined position information more accurate.

In this embodiment, after error compensation is performed on the initial absolute sin-cosine signal, a target sin-cosine signal can be obtained. The target sin-cosine signal can include an incremental sin-cosine signal generated by the sin-cosine encoder at the current moment, a zero-position sin-cosine signal, and a compensated absolute sin-cosine signal. Of course, it can be understood that the above-mentioned target sin-cosine signal may also only include the corrected absolute sin-cosine signal, which can be determined based on actual needs, and the embodiments of this specification are not limited to this.

In this embodiment, the initial absolute sin-cosine signal generated by the sin-cosine encoder at the current moment is collected, and then an error correction parameter set is obtained, wherein the error correction parameter set includes error correction parameters determined in advance according to the incremental sin-cosine signal, the zero position signal and the absolute sin-cosine signal generated by the sin-cosine encoder rotating one circle, and then the initial absolute sin-cosine signal is error compensated according to the error correction parameter set to obtain the target sin-cosine signal, which is used to determine the current position information of the sin-cosine encoder. In this embodiment, the initial absolute sin-cosine signal generated by the sin-cosine encoder at the current moment is collected, and then an error correction parameter set is obtained, wherein the error correction parameter set may include parameters for error correction of the absolute sin-cosine signal, and then the initial absolute sin-cosine signal is error compensated according to the parameters in the error correction parameter set. Compared with the existing method of adjusting the amplitude and offset of the sin-cosine signal generated by the encoder through a potentiometer or other programmable devices, the above method of this embodiment can perform error compensation on the initial absolute sin-cosine signal according to the error correction parameter set, so that the sin-cosine signal generated by the encoder can be accurately error compensated without relying on external correction equipment, and the fixed error of the sin-cosine encoder can be corrected.

Refer to FIG. 4 , which is a flow chart of a second embodiment of a method for compensating errors of sine and cosine signals of the present application.

Based on the above first embodiment, in this embodiment, before step S20, the following is further included:

Step S01: Acquire incremental sine and cosine signals, zero position signals and absolute sine and cosine signals generated by one rotation of the sine and cosine encoder;

In this embodiment, the error correction parameter set can be obtained before the sine-cosine encoder leaves the factory. First, the incremental sine-cosine signal, the zero position signal and the absolute sine-cosine signal generated by one rotation of the sine-cosine encoder can be obtained.

The incremental sine and cosine signals, the zero position signal and the absolute sine and cosine signals can be generated by the photocell chip inside the sine and cosine encoder. The incremental sine and cosine signals are the sine and cosine signals (A, B) in Figure 2, the zero position signal is the Z signal in Figure 2, and the absolute sine and cosine signals are the sine and cosine signals (C, D) in Figure 2.

Step S02: determining an error correction parameter set according to the incremental sin-cos signals, the zero position signal and the absolute sin-cos signals.

In this embodiment, the error correction parameter set can be determined based on the incremental sin-cosine signal (A, B), the zero-position sin-cosine signal (Z) and the absolute sin-cosine signal (C, D). The specific method can be to determine the error of the absolute sin-cosine signal based on the incremental sin-cosine signal and the zero-position signal to obtain the error correction parameter set.

Referring to Figure 4, Figure 4 is a schematic diagram of the internal structure of a sine-cosine encoder according to an embodiment of the error compensation method for sine-cosine signals of the present application. As shown in Figure 4, the A, B, C, D, and Z signals output by the sine-cosine encoder are generated by corresponding code channels engraved on the corresponding code disk and equipped with corresponding photocell chips. Before the sine-cosine encoder leaves the factory, the original signals (A+, A-, B+, B-, Z+, Z-, C+, C-, D+, and D-) output by the photocell chip can be input into an external CPU, and then after error compensation, the corresponding A1+, A1-, B1+, B1-, Z1+, Z1-, C1+, C1-, D1+, and D 1-, then convert C1+, C1-, D1+, D1- into differential signals through C and D to get C2+, C2-, D2+, D2-. Finally, according to A1+, A1-, B1+, B1-, Z1+, Z1-, C1+, C2+, C1-, C2-, D1+, D2+, D1-, D2-, the final driving signals A+out, A-out, B+out, B-out, Z+out, Z-out, C+out, C-out, D+out, D-out can be obtained.

In order to store the error correction parameter set, in this embodiment, after step S02, the method may further include: storing the error correction parameter set at a preset position of a memory in the sine-cosine encoder.

In this embodiment, the error correction parameter set can be stored in a preset position of the memory in the sine-cosine encoder, such as the EEPROM in FIG4 , or can be stored in other memories, such as flash ROM, CPU internal memory, NVRAN and other memories. The external CPU can be replaced by other operation processing units for sampling, calculation and output, such as FPGA, CPLD, MCU and other units capable of data acquisition and processing.

In order to update the error correction parameter value, in this embodiment, after step S30, it can also include: when the current position information does not meet the preset position condition, obtaining the current incremental sin-cosine signal, the current zero position signal and the current absolute sin-cosine signal generated by the sin-cosine encoder rotating one circle at the current moment; determining the current error correction parameter set according to the current incremental sin-cosine signal, the current zero position signal and the current absolute sin-cosine signal; and updating the error correction parameter set according to the current error correction parameter set.

After the sine-cosine encoder leaves the factory, as the number of times the sine-cosine encoder is used increases, the error of the sine-cosine encoder may become larger. Since the error correction parameter set obtained above can compensate for the fixed error of the sine-cosine encoder, this embodiment also needs to update the error correction parameter set after the sine-cosine encoder leaves the factory, that is, after use, so as to compensate for the error of the absolute sine-cosine signal generated by the sine-cosine encoder according to the updated error correction parameter set.

When the current position information does not meet the preset position condition, the preset position condition may be a pre-set position condition, for example: when there is a large difference between the absolute sine-cosine signal generated by the sine-cosine encoder at the current moment and the absolute sine-cosine signal generated by the sine-cosine encoder for the first time, or when the actual error of the absolute sine-cosine signal of the sine-cosine encoder at the current moment is greater than a certain threshold than the theoretical error recorded in the error correction parameter set, the error correction parameter set needs to be updated. Of course, the above-mentioned preset position condition may also be other possible conditions, which may be determined according to actual needs and actual conditions, and the embodiments of this specification do not limit this.

In a specific implementation, when the error correction parameter set is updated, the sine-cosine encoder can be controlled to rotate at a low speed for one circle. At this time, it is necessary to obtain the current incremental sine-cosine signal, the current zero-position signal and the current absolute sine-cosine signal generated by the sine-cosine encoder at the current moment, and then determine the current error correction parameter set based on the current incremental sine-cosine signal, the zero-position signal and the current absolute sine-cosine signal. The specific determination of the current error correction parameter set is basically consistent with the above-mentioned method of determining the error correction parameter set, and this embodiment will not elaborate on this. Then, the error correction parameter set is updated according to the current error correction parameter set, that is, the error correction parameter set is replaced with the current error correction parameter set, and error compensation can be performed according to the current error correction parameter set during the subsequent use of the sine-cosine encoder.

This embodiment obtains the incremental sine-cosine signal, the zero position signal and the absolute sine-cosine signal generated by one rotation of the sine-cosine encoder, and then determines the error correction parameter set according to the incremental sine-cosine signal, the zero position signal and the absolute sine-cosine signal. This embodiment determines the error correction parameter set according to the incremental sine-cosine signal, the zero position signal and the absolute sine-cosine signal, and can determine the error correction parameter set without relying on an external correction device, and then performs error compensation on the initial absolute sine-cosine signal, so that the error compensation of the sine-cosine signal generated by the encoder can be accurately performed.

Refer to FIG. 5 , which is a flow chart of a third embodiment of a method for compensating errors of sine and cosine signals of the present application.

Based on the above embodiments, in this embodiment, step S02 includes:

Step S021: determining a first single-turn absolute position according to the incremental sine and cosine signals and the zero position signal.

In this embodiment, the first single-turn absolute position can be determined according to the incremental sine and cosine signals and the zero position signal, the incremental sine and cosine signals refer to A+, A-, B+, B- signals, and the zero position signal refers to Z+, Z- signals.

In order to accurately determine the first single-turn absolute position, in this embodiment, the step S021 may include: determining the single-turn zero position signal of the sine-cosine encoder according to the zero position signal; performing period counting of the incremental signal according to the single-turn zero position signal to obtain a counting result; and determining the first single-turn absolute position according to the counting result.

The zero position signal, that is, the Z signal, can generate a pulse when the sine-cosine encoder rotates one circle. Therefore, the single-turn zero position signal can be used to determine whether the sine-cosine encoder will perform the next circle.

It should be understood that the incremental sine and cosine signals between one single-turn zero position signal and the next single-turn zero position signal, i.e., A+, A-, B+, and B- signals, can be obtained, and then the A signal and the B signal are obtained, where the A signal is the A+ signal minus the A- signal, and the B signal is the B+ signal minus the B- signal. At this point, the incremental sine and cosine signals can be cycle counted, that is, the number of cycles in the A signal and the B signal.

In a specific implementation, after obtaining the counting result, the first single-turn absolute position can be determined according to the counting result. For example, the A signal and the B signal will generate 2048 cycles in one rotation of the sine-cosine encoder. At this time, the counting result is 1024, and the first single-turn absolute position is (1024/2048)*360 degrees=180 degrees. In other words, the first single-turn absolute position = (counting result/total number of cycles)*360 degrees.

Step S022: Determine a second single-turn absolute position according to the absolute sine and cosine signals.

In this embodiment, the second single-turn absolute position may be an absolute position determined by using the absolute sine and cosine signals output by the encoder, that is, C+, C−, D+, and D− signals.

In this embodiment, the second single-turn absolute position can be determined according to the sine value and cosine value in the absolute sine and cosine signals. The C signal and the D signal can be determined according to the C+, C-, D+, and D- signals. The C signal is the C+ signal minus the C- signal, and the D signal is the D+ signal minus the D- signal. The cosine value in the absolute sine and cosine signals is the value in the C signal; the cosine value in the absolute sine and cosine signals is the value in the D signal, and the tangent value is the sine value/cosine value.

In this embodiment, after the tangent value is obtained, the second single-turn absolute position can be determined according to the tangent value, specifically by the method of finding the inverse function. For example, when the tangent value is 1, the second single-turn absolute position is arctan1=45 degrees.

Step S023: Determine error data of the second single-turn absolute position based on the first single-turn absolute position.

In this embodiment, since the accuracy of the first single-turn absolute position determined by using the incremental sine and cosine signals and the zero position signal is higher and closer to the theoretical value, the first single-turn absolute position can be used as the theoretical value, and based on this, the error compensation of the second single-turn position is performed, so that the error data can be determined more conveniently.

In a specific implementation, the error data corresponding to the second single-turn absolute position can be determined based on the first single-turn absolute position. For example, the first single-turn absolute position corresponding to the same voltage amplitude (such as 0V) is 180 degrees, and the second single-turn absolute position is 181 degrees. At this time, the error data is determined to be -1 degree. The error correction parameter set can store: when the second single-turn absolute position is 181 degrees, the corresponding error data is -1 degree; or, the error at 0V is -1 degree; or, the error curve or error formula obtained by fitting the single-turn error data can be stored in the error correction parameter set for correction. The specific can be determined according to the actual situation, and this specification does not limit this.

Step S024: generating the error correction parameter set based on the error data of the second single-turn absolute position.

The error correction parameter set in this embodiment may include position deviations corresponding to all second single-turn absolute positions.

In this embodiment, the error correction parameter set includes multiple groups of error correction parameters, each group of error correction parameters includes the amplitude of the sine and cosine signals and the corresponding angle error, or each group of error correction parameters includes the angle value of the sine and cosine signals and the corresponding angle error.

In this embodiment, the error correction parameter set may include the sine and cosine signal angle values and the corresponding angle errors, that is, the above-mentioned second single-turn absolute position and the corresponding error data.

In a specific implementation, each set of error correction parameter sets may also include the sine and cosine signal amplitudes and corresponding angular errors, that is, each signal amplitude will have a corresponding angular error. For example, when the signal amplitude is 4, the corresponding angle should be 90 degrees. However, when the sine and cosine encoder is produced before leaving the factory, when the signal amplitude is 4, the measured angle is 89 degrees. At this time, the angular error corresponding to the sine and cosine signal amplitude is +1 degree.

In order to accurately perform error compensation, in this embodiment, the step S30 may include: obtaining the signal angle corresponding to the initial absolute sin-cosine signal; selecting the angle error corresponding to the signal angle from the error correction parameter set; performing error compensation on the initial absolute sin-cosine signal according to the angle error to obtain a target sin-cosine signal, and the target sin-cosine signal is used to determine the current position information of the sin-cosine encoder.

After obtaining the signal angle corresponding to the initial absolute sine and cosine signals, the corresponding second single-turn absolute position can be obtained according to the C and D signals in the absolute sine and cosine signals. At this time, the corresponding angle error can be selected from the error correction parameter set according to the second single-turn absolute position. For example, when the second single-turn absolute position is 181 degrees, the angle error is -1 degree.

After obtaining the angle error, the initial absolute sine and cosine signals can be error compensated. For example, when the angle error is -1 degree, the C signal and D signal corresponding to the angle error are both processed by -1 degree. After error compensation is performed on each signal angle, the entire initial absolute sine and cosine signal can be error compensated to obtain the target sine and cosine signals.

In order to accurately perform error compensation, in this embodiment, the step S30 may include: obtaining the signal amplitude corresponding to the initial absolute sin-cosine signal; selecting the angle error corresponding to the signal amplitude from the error correction parameter set; performing error compensation on the initial absolute sin-cosine signal according to the angle error to obtain a target sin-cosine signal, and the target sin-cosine signal is used to determine the current position information of the sin-cosine encoder.

In addition to performing error compensation based on the angle of the sine and cosine signals, error compensation can also be performed based on the amplitude of the sine and cosine signals.

After obtaining the signal amplitude corresponding to the initial absolute sine and cosine signals, the corresponding angle error is selected from the error correction parameter set. For example, when the signal amplitude is 4, the angle error is +1 degree.

After obtaining the angle error, the initial absolute sine and cosine signals can be error compensated. For example, when the angle error is +1 degree, the C signal and D signal corresponding to the angle error are both processed by +1 degree. After the error compensation is performed on the amplitude of each signal, the error compensation can be performed on the entire initial absolute sine and cosine signal to obtain the target sine and cosine signals.

Specifically, in addition to being applicable to sine-cosine encoders, this embodiment can also be applied to output signals (A+, A-, B+, B-) that are square waves, and the above solution can also be used to improve the accuracy of the encoder.

This embodiment determines the first single-turn absolute position according to the incremental sine-cosine signal and the zero-position signal, and then determines the second single-turn absolute position according to the absolute sine-cosine signal, and then determines the error data of the second single-turn absolute position based on the first single-turn absolute position, and then generates an error correction parameter set based on the error data of the second single-turn absolute position. This embodiment determines the error correction parameter set according to the first single-turn absolute position and the second single-turn absolute position, and can perform error compensation on the second single-turn absolute position based on the first single-turn absolute position, so that the error compensation of the sine-cosine signal generated by the encoder can be accurately performed without relying on external correction equipment.

In addition, an embodiment of the present application further proposes a storage medium, on which an error compensation program for sine and cosine signals is stored. When the error compensation program for sine and cosine signals is executed by a processor, the steps of the error compensation method for sine and cosine signals described above are implemented.

It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

The serial numbers of the embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory/random access memory, a disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims (10)

1. A method for compensating an error of a sine-cosine signal is applied to a sine-cosine encoder, wherein the method for compensating an error of a sine-cosine signal comprises:

   Collecting the initial absolute sine and cosine signals generated by the sine and cosine encoder at the current moment;

   Acquire an error correction parameter set, wherein the error correction parameter set includes error correction parameters pre-determined based on incremental sine-cosine signals, zero position signals, and absolute sine-cosine signals generated by one rotation of the sine-cosine encoder; and

   The initial absolute sin-cos signal is error compensated according to the error correction parameter set to obtain a target sin-cos signal, and the target sin-cos signal is used to determine the current position information of the sin-cos encoder.
2. The error compensation method for sine and cosine signals according to claim 1, wherein before obtaining the error correction parameter set, it also includes:

   Acquire incremental sine and cosine signals, zero position signals and absolute sine and cosine signals generated by one rotation of the sine and cosine encoder; and

   The error correction parameter set is determined based on the incremental sin-cos signals, the zero position signal and the absolute sin-cos signals.
3. The error compensation method for sin-cos signals according to claim 2, wherein the step of determining the error correction parameter set according to the incremental sin-cos signals, the zero position signal and the absolute sin-cos signals comprises:

   Determining a first single-turn absolute position according to the incremental sine and cosine signals and the zero position signal;

   Determining a second single-turn absolute position according to the absolute sine and cosine signals;

   Determining error data of the second single-turn absolute position based on the first single-turn absolute position; and

   The error correction parameter set is generated based on the error data of the second single-turn absolute position.
4. The error compensation method of the sine and cosine signals according to claim 3, wherein the step of determining the first single-turn absolute position according to the incremental sine and cosine signals and the zero position signal comprises:

   Determine a single-turn zero-position signal of the sine-cosine encoder according to the zero-position signal;

   Performing period counting on the incremental signal according to the single-turn zero position signal to obtain a counting result; and

   The first single-turn absolute position is determined according to the counting result.
5. The error compensation method for sine and cosine signals as described in claim 3, wherein the error correction parameter set includes multiple groups of error correction parameters, each group of error correction parameters includes the amplitude of the sine and cosine signals and the corresponding angle error, or each group of error correction parameters includes the angle value of the sine and cosine signals and the corresponding angle error.
6. The error compensation method of the sine and cosine signals according to claim 2, wherein after determining the error correction parameter set according to the incremental sine and cosine signals, the zero position signal and the absolute sine and cosine signals, it further comprises:

   The error correction parameter set is stored at a preset location in a memory in the sine-cosine encoder.
7. The error compensation method for sin-cosine signals according to claim 5, wherein the step of performing error compensation on the initial absolute sin-cosine signal according to the error correction parameter set to obtain a target sin-cosine signal, and the target sin-cosine signal is used to determine the current position information of the sin-cosine encoder, comprises:

   Obtaining a signal angle corresponding to the initial absolute sine and cosine signals;

   Selecting an angle error corresponding to the signal angle from the error correction parameter set; and

   The initial absolute sine and cosine signals are error compensated according to the angle error to obtain target sine and cosine signals, and the target sine and cosine signals are used to determine the current position information of the sine and cosine encoder.
8. The error compensation method for sin-cosine signals according to claim 5, wherein the step of performing error compensation on the initial absolute sin-cosine signal according to the error correction parameter set to obtain a target sin-cosine signal, and the target sin-cosine signal is used to determine the current position information of the sin-cosine encoder, comprises:

   Obtaining a signal amplitude corresponding to the initial absolute sine and cosine signals;

   Selecting the angle error corresponding to the signal amplitude from the error correction parameter set; and

   The initial absolute sine and cosine signals are error compensated according to the angle error to obtain target sine and cosine signals, and the target sine and cosine signals are used to determine the current position information of the sine and cosine encoder.
9. The error compensation method for sin-cosine signals according to claim 1, wherein after performing error compensation on the initial absolute sin-cosine signal according to the error correction parameter set to obtain a target sin-cosine signal, and the target sin-cosine signal is used to determine the current position information of the sin-cosine encoder, it further comprises:

   When the current position information does not meet the preset position condition, obtaining the current incremental sine-cosine signal, the current zero position signal and the current absolute sine-cosine signal generated by the sine-cosine encoder rotating one circle at the current moment;

   Determining a current error correction parameter set based on the current incremental sin-cos signal, the current zero signal, and the current absolute sin-cos signal; and

   The error correction parameter set is updated according to the current error correction parameter set.
10. A storage medium, wherein an error compensation program for sine and cosine signals is stored on the storage medium, and when the error compensation program for sine and cosine signals is executed by a processor, the steps of the error compensation method for sine and cosine signals as described in any one of claims 1 to 9 are implemented.