CN104614002A - Subdivided signal error compensation method for photoelectric encoder of tracking control platform - Google Patents
Subdivided signal error compensation method for photoelectric encoder of tracking control platform Download PDFInfo
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Abstract
The invention provides a subdivided signal error compensation method for a photoelectric encoder of a tracking control platform, which is suitable for the tracking control platform. The invention compensates the error of the subdivision signal of the encoder measuring module by tracking the position quantity of the controlled object of the control platform. The method has strong practicability and outfield adaptability, and does not need expensive error detection equipment and complex algorithm which causes large delay to the platform. Meanwhile, only shafting position information needs to be acquired, the tracking control platform, the encoder angle measurement module and a software and hardware structure of the lower layer of the platform do not need to be known, the transportability and the operability are strong, time and labor are saved, and a good solution idea is provided for solving the common encoder subdivision signal error problem of the photoelectric tracking control platform.
Description
Technical field
The invention belongs to precision tracking and control technology field, be specifically related to a kind of tracing control platform photoelectric encoder subdivision's signal error compensating method.
Background technology
Tracing control platform requires harsh to catching, following the tracks of and aim at, and precision to rad magnitude, even need want Ultra-Low Speed work, to the axis angle measurement precision of photoelectric encoder and the very high requirement of accuracy proposition.Grating signal cycle size, the consistance of grating and marginal sharpness, optical filter quality, stability in subsequent treatment of optical detection device characteristic and outputting analog signal and dynamic property are the principal elements affecting photoelectric encoder measuring accuracy.Also alignment error will be considered, measured axis bearing error, the impact on measuring accuracy such as the additive error that read head alignment error causes for the angular encoder without built-in bearing.For built-in bearing angular encoder and internal stator shaft coupling angular encoder, also need the error considering that shaft coupling brings.What these factors were measured scrambler affects in the present subdivision's signal error of final body, and improving scrambler precision need revise subdivision's signal error or compensate.For the impact that subdivision's signal error causes scrambler angle measurement accuracy, usually remedy from error-detecting and error compensation two aspects.Subdivision's signal error measure aspect, if detect the origin cause of formation of subdivision error, value or dynamic law, just can evade the factor that produces error as far as possible or directly compensate subdivision error, to improve scrambler precision.Subdivision error measuring method Problems existing is that encoder errors pick-up unit is complicated, and testing process is loaded down with trivial details, strict to environmental requirement, mostly can only detect in laboratory conditions, not be adapted at working site and detect scrambler.In addition, pick-up unit can only realize detecting the static error of scrambler mostly, can not well realize detecting the dynamic error of scrambler.Expensive price is also limit its key factor applied in Practical Project.Subdivision error compensation aspect, stresses based on BP neural network and the research based on the intelligence such as radial primary function network and adaptive algorithm more.Scrambler subdivision error compensation method Problems existing is that error correction needs to carry out under the comparatively ideal environment such as laboratory, action is only carried out revising or compensating for the subdivision error of scrambler angle measurement module, do not consider that scrambler angle measurement module application is when complicated large platform axle system, the impact that subdivision error causes whole platform.Therefore, these subdivision error compensation methodes are difficult to the situations such as the change of adaptation photoelectric encoder working site and working environment.For the above-mentioned shortcoming that current encoder device subdivision's signal error compensating method exists, the present invention proposes a kind of tracing control platform photoelectric encoder subdivision's signal error compensating method.The method practicality and outfield adaptable, without the need to expensive error detecting facility and the complicated algorithm bringing the larger time delay of platform.Simultaneously, the method only needs to obtain axle system positional information, without the need to understanding photoelectric control platform and scrambler angle measurement module and platform lower floor software and hardware structure, portable can functipnal capability strong, time saving and energy saving, for the scrambler subdivision's signal error problem solving photoelectric control platform common provides a good resolving ideas.This approach reduce the impact of subdivision's signal error on tracing control platform, improve tracing control platform angle measuring precision of photoelectric encoder, make platform have wider bandwidth, higher rigidity, faster response speed, stronger load capacity and better stability.
Chinese patent literature storehouse discloses the application for a patent for invention technology that a kind of name is called " detection method of high-precision encoder photosignal subdivision error " (number of patent application 201210488003.5), this application for a patent for invention technology discloses a kind of method measuring super-long guiding rail linearity, relates to a kind of method measuring guide rail especially super-long guiding rail linearity.The present invention solves that existing measuring method measuring accuracy is low, error is large, and there is the problem of data processing and computing more complicated.The method of the invention is measured by laser tracker, gather some data points on super-long guiding rail, space line matching is carried out to these data points, adopt the data message of least square fitting algorithm to the N number of test sample point gathered to carry out linearity calculating, the linearity of guide rail can be obtained.Method data analysis of the present invention and experimental implementation is easy, the test duration is short, data processing is simple, testing cost is low and testing efficiency is very high.Its weak point is that this patent of invention laser tracker device is only suitable for linear encoder, be not suitable for angular encoder, its error detecting facility is expensive, practicality and outfield adaptive faculty not strong, require high to photoelectric control platform and coder module and platform lower floor software and hardware structure familiarity, portable can functipnal capability poor, be difficult to adapt to the situations such as the change of photoelectric encoder working site and working environment.
Summary of the invention
For solving scrambler subdivision's signal error, more serious impact is caused on tracing control platform stabilization and tracing control precision, and subdivision's signal error compensating method conventional is at present in practicality, outfield adaptive faculty, price, portable can functipnal capability and the real-time aspect problem that cannot satisfy the demands, and the invention provides a kind of tracing control platform photoelectric encoder subdivision's signal error compensating method.
The technical solution used in the present invention is: a kind of tracing control platform photoelectric encoder subdivision's signal error compensating method, tracing control platform comprises main processor modules, memory module, display module, power module, execution module, controlled module, photoelectric encoder measurement module, communication interface modules and human-computer interaction module.Tracing control platform is centered by main processor modules, controlled module is tracing control platform courses object, photoelectric encoder measurement module is for measuring the displacement of controlled module, execution module is used for driving and controlling controlled module, memory module is connected with main processor modules for storing real-time processing data and program curing etc., the display module be connected in main processor modules is mainly used to display controlled module dynamically and behavior, communication module is used for the information interaction of intermodule, human-computer interaction module main convenient operation person's usage track control system, power module is then for whole hardware platform provides power supply supply.
This tracing control platform photoelectric encoder subdivision's signal error compensating method realizes according to the following steps:
Step (1), parametric controller photoelectric encoder export the two-way orthogonal signal obtained by Moire fringe technology, and waveform is quasi-sine-wave, and sinusoidal wave and cosine wave (CW) is expressed as follows:
Wherein, subdivision's signal A and B is made up of four parts, A
0and B
0representing signal DC component, is DC error source; A
mand B
mrepresenting fundamental signal amplitude, is signal amplitude error source;
representing higher hamonic wave sum, is harmonic component source of error; δ
erepresenting electrical noise, is noise source; In addition, be converted to quantization error source between the photoelectric encoder segmentation analog quantity of angle and digital quantity, the phase differential of A and B two paths of signals is phase error source;
There is the encoder applies platform of requirements for high precision, high segmentation multiple be reached, arc tangent divided method need be adopted.Divided method and subdivision error are shown below.
Wherein, θ
rrepresent true theoretical segmentation angle, θ
dfor measuring gained segmentation angle, △ θ is subdivision's signal error.
Judge that subdivision error is to parametric controller Accuracy degree, if faint to ignoring, then algorithm terminates.Otherwise by the above-mentioned mathematical analysis error in judgement Source Type to subdivision's signal error;
Step (2), calculating parametric controller subdivision error compensation method initial parameter:
A) encoder system resolution:
B) scrambler grating angular resolution:
C) subdivision's signal segmentation resolution:
AllBit, CoarseBit, FineBit represent photoelectric encoder figure place respectively, thick code bit number and smart code bit number.Wherein, the individual pen raster count that thick representation photoelectric encoder code-disc physics is portrayed, smart representation slender sub-signal cyclical electrical segmentation number;
Step (3), to ask the thick representation of actual measurement axle system position
then use the position quantity θ of thick representation
p_Coarsefor: θ
p_Coarse=CoarseCode*Q
c.Be θ by smart representation for the position quantity segmented
p_Fine=θ
p-θ
p_Coarse;
Step (4), reality of looking for the truth segment angle value
Step (5), judge whether segmentation angular phasing offsets zero point, if offset, asking by now segmenting angle zero point is the segmentation angular metric θ that starting point measures
dRfor: θ
dR=θ
d-InitialAngle.θ
drepresent the actual segmentation angle measured, its expression formula according to different subdivision error types by θ
rand the expression formula of A and B is tried to achieve, InitialAngle represents the side-play amount of segmentation angle null position.If segmentation angular phasing is without offseting zero point, θ
dR=θ
d;
Step (6), ask corresponding θ
dRsmart code
then the total code of absolute fix is CodeAll=CoarseCode2
fineBit+ FineCode;
Step (7), by formula CodeAll=CoarseCode2
fineBit+ FineCode and ACoarseCode=CoarseCode, release step (6) obtains the thick code in total code
(ACoarseCode and CoarseCode difference is that aspect, source is different, and the former is separated by the total code value inputting this module, and the latter is obtained by axle system absolute fix amount, and both are equivalence in theory).This step effect to be further purified thick code value, makes it more accurate;
Step (8), ask and do not revise smart code NCFineCode=CodeAll-ACoarseCode;
Step (9), ask the segmentation angle of the smart representation of uncorrected segmentation
(FinePhaseOrigin and θ
dRsource is different, and the former is from not revising smart code, and the latter derives from axle system position measurements.Owing to rounding, the former is worth generally can be less than the latter);
Step (10), if there is zero point drift, segments angle measurement θ
d=FinePhaseOrigin+InitialAngle, otherwise θ
d=FinePhaseOrigin;
Step (11), according to different subdivision error types, elaborate division by calculation signal errors amount △ θ, i.e. correction;
Step (12), ask revised segmentation angle θ
dc=θ
d+ △ θ;
Step (13), ask revised smart code
then revised total code is obtained by following formula:
CodeAllCorrected＝ACoarseCode+FineCodeCorrected
Step (14), calculate revised axle system positional value θ
pC: θ
pC=CodeAllCorrectedQ
Step (15), by revised position quantity θ
pCbe brought in this tracing control platform by feedback.
Wherein, the main processor modules of tracing control platform photoelectric encoder subdivision's signal error compensating method of the present invention can be one or more in PC, FPGA, PowerPC and DSP.
Wherein, the memory module of tracing control platform photoelectric encoder subdivision's signal error compensating method of the present invention can be electronic solid state hard disk, one or more in TF, CF or SD card.
Wherein, the display module of tracing control platform photoelectric encoder subdivision's signal error compensating method of the present invention can be OLED or LCD.
Wherein, the power module of tracing control platform photoelectric encoder subdivision's signal error compensating method of the present invention adopts specific power management chip, comprises battery and battery charger simultaneously.
Wherein, the execution module of tracing control platform photoelectric encoder subdivision's signal error compensating method of the present invention is that the proprietary power level of controlled device drives.
Wherein, the controlled module of tracing control platform photoelectric encoder subdivision's signal error compensating method of the present invention is tracing control platform courses end and control object.
Wherein, the photoelectric encoder measurement module of tracing control platform photoelectric encoder subdivision's signal error compensating method of the present invention be the code used device of platform and with scrambler by the supporting segmentation of special interface and digitizing electronics equipment.
The present invention's advantage is compared with prior art:
The present invention is by carrying out theoretical analysis to photoelectric encoder subdivision's signal error, by tracing control platform, contrast existing subdivision's signal error compensating method, can not change photoelectric encoder angle measuring system, do not adopt complicated impact to follow the tracks of the intelligent algorithm of rapidity simultaneously, but utilize photoelectric encoder place tracking control system absolute fix amount correction photoelectric encoder subdivision's signal error.It is high that the present invention can be applicable to precision, real-time, and the scrambler of the high main equipment of complexity exports subdivision's signal error compensation.Meanwhile, practicality of the present invention and outfield adaptable, without the need to expensive error detecting facility and the complicated algorithm bringing the larger time delay of system.In addition, the present invention only needs to obtain axle system positional information, without the need to understanding Light Electronic Control System and encoder angle measuring system and system lower floor software and hardware structure, portable can functipnal capability strong, time saving and energy saving, for the scrambler subdivision's signal error problem solving Light Electronic Control System common provides a good solution.This approach reduce the impact of subdivision's signal error on tracing control platform, improve tracing control platform angle measuring precision of photoelectric encoder, make platform have wider bandwidth, higher rigidity, faster response speed, stronger load capacity and better stability.
After method of the present invention is applied to tracing control platform, platform low-speed performance obviously strengthens, illustrate that subdivision's signal error compensating method that the present invention proposes is to suppression platform tracing control error, improves platform courses precision effective, is particularly guaranteeing in parametric controller low-speed stability.Contrast tracing control platform is the test result all revised of speed loop subdivision error compensating approach and speed and position loop only, and the latter's control method effect is better excellent, especially comparatively even running stage after platform 0.05-0.3s starting stage and 0.8s.Meanwhile, the test result of the latter is more close to the reference platform test result that Performance comparision is excellent.Consider that the subdivision error compensation method that the present invention proposes is simple, the burden brought to platform and integrally computing is less.So the subdivision error backoff algorithm that the present invention proposes by tracing control platform selecting applies to speed loop and the position loop of parametric controller simultaneously.Test shows, contrast tracing control platform property, after the correction of subdivision's signal error compensation, tracing control site error maximal value is by 1.42 " being reduced to 0.74 ", and reduce 47.9%, low-speed performance obviously promotes, and parametric controller overall performance is enhanced.
Accompanying drawing explanation
Fig. 1 is tracing control platform architecture block diagram;
Fig. 2 is the tracing control platform photoelectric encoder subdivision's signal error compensating method process flow diagram that the present invention proposes;
Fig. 3 is the design sketch that in embodiment, photoelectric encoder subdivision's signal error compensating method is applied to tracing control platform; Wherein,
represent with reference to tracing control platform low speed tracking performance,
represent tracing control platform low speed tracking performance before non-subdivision's signal error compensation,
represent that the error compensating method by the present invention proposes only is applied to the tracing control platform low speed tracking performance after tracing control platform speed loop,
represent and follow the tracks of parametric controller low speed tracking performance after the error compensating method that the present invention proposes is applied to tracing control platform control system speed loop and position loop simultaneously;
In Fig. 1: 1. main processor modules, 2. memory module, 3. display module, 4. power module, 5. execution module, 6. controlled module, 7. photoelectric encoder measurement module, 8. communication interface modules, 9. human-computer interaction module.
Embodiment
In order to better understand subdivision's signal error compensating method proposed by the invention, below in conjunction with accompanying drawing and case study on implementation, the invention will be further described.
Fig. 1 is tracing control platform architecture block diagram, and tracing control platform comprises main processor modules 1, memory module 2, display module 3, power module 4, execution module 5, controlled module 6, photoelectric encoder measurement module 7, communication interface modules 8, human-computer interaction module 9.Tracing control platform is process core with main processor modules 1, controlled module 6 is tracing control platform courses object, photoelectric encoder measurement module 7 provides control mainly to execution module 5 and drives the displacement the position quantity measuring controlled module 6 of measuring controlled module 6, memory module 2 is connected for storing real-time processing data and program curing etc. with main processor modules 1, the display module 3 be connected in main processor modules 1 is mainly used to display controlled module dynamically and behavior, communication module 8 is for the information interaction of intermodule, the main convenient operation person's usage track control system of human-computer interaction module 9, power module 4 is for whole hardware platform provides power supply supply.
The main processor modules of tracing control platform photoelectric encoder subdivision's signal error compensating method of the present invention can be one or more in PC, FPGA, PowerPC and DSP.
The memory module of tracing control platform photoelectric encoder subdivision's signal error compensating method of the present invention can be electronic solid state hard disk, one or more in TF, CF or SD card.
The display module of tracing control platform photoelectric encoder subdivision's signal error compensating method of the present invention can be OLED or LCD.
The power module of tracing control platform photoelectric encoder subdivision's signal error compensating method of the present invention adopts specific power management chip, comprises battery and battery charger simultaneously.
The execution module of tracing control platform photoelectric encoder subdivision's signal error compensating method of the present invention is that the proprietary power level of controlled device drives.
The controlled module of tracing control platform photoelectric encoder subdivision's signal error compensating method of the present invention is tracing control platform courses end and control object.
The photoelectric encoder measurement module of tracing control platform photoelectric encoder subdivision's signal error compensating method of the present invention be the code used device of platform and with scrambler by the supporting segmentation of special interface and digitizing electronics equipment.
Fig. 2 is the tracing control platform photoelectric encoder subdivision's signal error compensating method process flow diagram that the present invention proposes, and realizes according to the following steps:
Step (1), parametric controller photoelectric encoder export the two-way orthogonal signal obtained by Moire fringe technology, and waveform is quasi-sine-wave, and sinusoidal wave and cosine wave (CW) is expressed as follows:
Wherein, subdivision's signal A and B is made up of four parts, A
0and B
0representing signal DC component, is DC error source; A
mand B
mrepresenting fundamental signal amplitude, is signal amplitude error source;
with
representing higher hamonic wave sum, is harmonic component source of error; δ
erepresenting electrical noise, is noise source.In addition, be converted to quantization error source between the photoelectric encoder segmentation analog quantity of angle and digital quantity, the phase differential of A and B two paths of signals is phase error source.
There is the encoder applies platform of requirements for high precision, high segmentation multiple be reached, arc tangent divided method need be adopted.Divided method and subdivision error principle are shown below.
Wherein, θ
rrepresent true theoretical segmentation angle, θ
dfor measuring gained segmentation angle, △ θ is subdivision's signal error.
Judge that subdivision error is to parametric controller Accuracy degree, if faint to ignoring, then algorithm terminates.Otherwise by the above-mentioned mathematical analysis error in judgement Source Type to subdivision's signal error;
Step (2), calculating parametric controller subdivision error compensation method initial parameter:
A) encoder system resolution:
B) scrambler grating angular resolution:
C) subdivision's signal segmentation resolution:
AllBit, CoarseBit, FineBit represent photoelectric encoder figure place respectively, thick code bit number and smart code bit number.Wherein, the individual pen raster count that thick representation photoelectric encoder code-disc physics is portrayed, smart representation slender sub-signal cyclical electrical segmentation number;
Step (3), to ask the thick representation of actual measurement axle system position
then use the position quantity θ of thick representation
p_Coarsefor: θ
p_Coarse=CoarseCode*Q
c.Be θ by smart representation for the position quantity segmented
p_Fine=θ
p-θ
p_Coarse;
Step (4), reality of looking for the truth segment angle value
Step (5), judge whether segmentation angular phasing offsets zero point, if offset, asking by now segmenting angle zero point is the segmentation angular metric θ that starting point measures
dRfor: θ
dR=θ
d-InitialAngle.θ
drepresent the actual segmentation angle measured, its expression formula according to different subdivision error types by θ
rand the expression formula of A and B is tried to achieve, InitialAngle represents the side-play amount of segmentation angle null position.If segmentation angular phasing is without offseting zero point, θ
dR=θ
d;
Step (6), ask corresponding θ
dRsmart code
then the total code of absolute fix is CodeAll=CoarseCode2
fineBit+ FineCode;
Step (7), by formula CodeAll=CoarseCode2
fineBit+ FineCode and ACoarseCode=CoarseCode, release step 6 obtains the thick code in total code
(ACoarseCode and CoarseCode difference is that aspect, source is different, and the former is separated by the total code value inputting this module, and the latter is obtained by axle system absolute fix amount, and both are equivalence in theory).This step effect to be further purified thick code value, makes it more accurate;
Step (8), ask and do not revise smart code NCFineCode=CodeAll-ACoarseCode;
Step (9), ask the segmentation angle of the smart representation of uncorrected segmentation
(FinePhaseOrigin and θ
dRsource is different, and the former is from not revising smart code, and the latter derives from axle system position measurements.Owing to rounding, the former is worth generally can be less than the latter);
Step (10), if there is zero point drift, segments angle measurement θ
d=FinePhaseOrigin+InitialAngle, otherwise θ
d=FinePhaseOrigin;
Step (11), according to different subdivision error types, elaborate division by calculation signal errors amount △ θ, i.e. correction;
Step (12), ask revised segmentation angle θ
dc=θ
d+ △ θ;
Step (13), ask revised smart code
then revised total code is obtained by following formula:
CodeAllCorrected＝ACoarseCode+FineCodeCorrected
Step (14), calculate revised axle system positional value θ
pC: θ
pC=CodeAllCorrectedQ
Step (15), by revised position quantity θ
pCbe brought in parametric controller by feedback.
Fig. 3 is the design sketch that in embodiment, photoelectric encoder subdivision's signal error compensating method is applied to tracing control platform.In Practical Project, measure former tracing control platform and the tracing control performance with reference to tracing control platform of good performance.The tracking platform photoelectric encoder subdivision's signal error compensating method that the present invention proposes is applied to tracing control platform speed ring and subdivision's signal error compensating method is applied to tracing control platform speed ring and position ring simultaneously, tests the tracing control performance of tracing control platform respectively.Only speed loop compensates and speed loop and position loop compensate rear platform low-speed performance platform low-speed performance simultaneously and all obviously strengthen, illustrate that subdivision's signal error compensating method that the present invention proposes is to suppression platform tracing control error, improves platform courses precision effective.Contrast tracing control platform is the test result all revised of speed loop subdivision error compensating approach and speed and position loop only, and the latter's control method effect is better excellent, especially comparatively even running stage after platform 0.05-0.3s starting stage and 0.8s.Meanwhile, the test result of the latter is more close to the reference platform test result that Performance comparision is excellent.Consider that the subdivision error compensation method that the present invention proposes is simple, the burden brought to platform and integrally computing is less.So the subdivision error backoff algorithm that the present invention proposes by tracing control platform selecting applies to speed loop and the position loop of parametric controller simultaneously.Test shows, contrast tracing control platform property, after the correction of subdivision's signal error compensation, tracing control site error maximal value is by 1.42 " being reduced to 0.74 ", and reduce 47.9%, low-speed performance obviously promotes, and parametric controller overall performance is enhanced.
High precision photoelectric tracking control system requires harshness to catching, following the tracks of and aim at, precision to rad magnitude, meanwhile, often need work in lower-speed state, tracking velocity is even less than 1, and "/s proposes very high requirement to the axis angle measurement precision of photoelectric encoder and accuracy.Grating signal cycle size, the consistance of grating and marginal sharpness, optical filter quality, stability in subsequent treatment of optical detection device characteristic and outputting analog signal and dynamic property are the principal elements affecting photoelectric encoder measuring accuracy.What these factors were measured scrambler affects in the present subdivision's signal error of final body, and improving scrambler precision need revise subdivision's signal error or compensate.
For the impact that subdivision's signal error causes scrambler measuring accuracy, usually remedy from error-detecting and error compensation two aspects.In subdivision's signal error measure, if detect the origin cause of formation of subdivision error, value or dynamic law, just can evade the factor that produces error as far as possible or directly subdivision error be compensated, to improve scrambler precision.In the research of subdivision error compensation technique, more advanced intelligent algorithm at present is usually adopted to realize the compensation of the photoelectric encoder angle error comprising subdivision error.The present invention is by carrying out mathematical analysis to scrambler subdivision error, by the positional value of the tracing control platform that scrambler place tracing control platform records, scrambler subdivision's signal error is compensated, algorithm is simply effective, without the need to as modifying to encoder angle measuring system to subdivision's signal error correction or compensation method now.
Claims (8)
1. a tracing control platform photoelectric encoder subdivision's signal error compensating method, is characterized in that: this tracing control platform comprises main processor modules (1), memory module (2), display module (3), power module (4), execution module (5), controlled module (6), photoelectric encoder measurement module (7), communication interface modules (8) and human-computer interaction module (9), this tracing control platform is process core with main processor modules (1), controlled module (6) is tracing control platform courses object, photoelectric encoder measurement module (7) provides control mainly to execution module (5) and drives the displacement the position quantity measuring controlled module (6) of measuring controlled module (6), memory module (2) is connected for storing real-time processing data and program curing etc. with main processor modules (1), the display module (3) be connected in main processor modules (1) is mainly used to display controlled module dynamically and behavior, communication module (8) is for the information interaction of intermodule, the main convenient operation person's usage track control system of human-computer interaction module (9), power module (4) is then for whole hardware platform provides power supply supply,
This tracing control platform photoelectric encoder subdivision's signal error compensating method realizes according to the following steps:
Step (1), parametric controller photoelectric encoder export the two-way orthogonal signal obtained by Moire fringe technology, and waveform is quasi-sine-wave, and sinusoidal wave and cosine wave (CW) is expressed as follows:
Wherein, subdivision's signal A and B is made up of four parts, A
0and B
0representing signal DC component, is DC error source; A
mand B
mrepresenting fundamental signal amplitude, is signal amplitude error source;
representing higher hamonic wave sum, is harmonic component source of error; δ
erepresenting electrical noise, is noise source; In addition, be converted to quantization error source between the photoelectric encoder segmentation analog quantity of angle and digital quantity, the phase differential of A and B two paths of signals is phase error source;
There is the encoder applies platform of requirements for high precision, high segmentation multiple be reached, arc tangent divided method need be adopted; Divided method and subdivision error are shown below:
Wherein, θ
rrepresent true theoretical segmentation angle, θ
dfor measuring gained segmentation angle, △ θ is subdivision's signal error;
Judge that subdivision error is to parametric controller Accuracy degree, if faint to ignoring, then algorithm terminates; Otherwise by the above-mentioned mathematical analysis error in judgement Source Type to subdivision's signal error;
Step (2), calculating parametric controller subdivision error compensation method initial parameter:
A) encoder system resolution:
B) scrambler grating angular resolution:
C) subdivision's signal segmentation resolution:
AllBit, CoarseBit, FineBit represent photoelectric encoder figure place respectively, thick code bit number and smart code bit number, wherein, and the individual pen raster count that thick representation photoelectric encoder code-disc physics is portrayed, smart representation slender sub-signal cyclical electrical segmentation number;
Step (3), to ask the thick representation of actual measurement axle system position
then use the position quantity θ of thick representation
p_Coarsefor: θ
p_Coarse=CoarseCode*Q
c.Be θ by smart representation for the position quantity segmented
p_Fine=θ
p-θ
p_Coarse;
Step (4), reality of looking for the truth segment angle value
Step (5), judge whether segmentation angular phasing offsets zero point, if offset, asking by now segmenting angle zero point is the segmentation angular metric θ that starting point measures
dRfor: θ
dR=θ
d-InitialAngle, θ
drepresent the actual segmentation angle measured, its expression formula according to different subdivision error types by θ
rand the expression formula of A and B is tried to achieve, InitialAngle represents the side-play amount of segmentation angle null position, if segmentation angular phasing is without offseting zero point, and θ
dR=θ
d;
Step (6), ask corresponding θ
dRsmart code
then the total code of absolute fix is CodeAll=CoarseCode2
fineBit+ FineCode;
Step (7), by formula CodeAll=CoarseCode2
fineBit+ FineCode and ACoarseCode=CoarseCode, release step (6) obtains the thick code in total code
aCoarseCode and CoarseCode difference is that aspect, source is different, and the former is separated by the total code value inputting this module, and the latter is by the absolute fix amount acquisition of axle system, and both are equivalent in theory; This step effect to be further purified thick code value, makes it more accurate;
Step (8), ask and do not revise smart code NCFineCode=CodeAll-ACoarseCode;
Step (9), ask the segmentation angle of the smart representation of uncorrected segmentation
finePhaseOrigin and θ
dRsource is different, and the former is from not revising smart code, and the latter derives from axle system position measurements, and owing to rounding, the former is worth generally can be less than the latter;
Step (10), if there is zero point drift, segments angle measurement θ
d=FinePhaseOrigin+InitialAngle, otherwise θ
d=FinePhaseOrigin;
Step (11), according to different subdivision error types, elaborate division by calculation signal errors amount △ θ, i.e. correction;
Step (12), ask revised segmentation angle θ
dc=θ
d+ △ θ;
Step (13), ask revised smart code
then revised total code is obtained by following formula:
CodeAllCorrected＝ACoarseCode+FineCodeCorrected
Step (14), calculate revised axle system positional value θ
pC: θ
pC=CodeAllCorrectedQ;
Step (15), by revised position quantity θ
pCbe brought in tracing control platform by feedback.
2. tracing control platform photoelectric encoder subdivision's signal error compensating method according to claim 1, is characterized in that: described main processor modules can be one or more in PC, FPGA, PowerPC and DSP.
3. tracing control platform photoelectric encoder subdivision's signal error compensating method according to claim 1, is characterized in that: described memory module can be electronic solid state hard disk, one or more in TF, CF or SD card.
4. tracing control platform photoelectric encoder subdivision's signal error compensating method according to claim 1, is characterized in that: described display module can be OLED or LCD.
5. tracing control platform photoelectric encoder subdivision's signal error compensating method according to claim 1, is characterized in that: described power module adopts specific power management chip, comprises battery and battery charger simultaneously.
6. tracing control platform photoelectric encoder subdivision's signal error compensating method according to claim 1, is characterized in that: described execution module is that the proprietary power level of controlled device drives.
7. tracing control platform photoelectric encoder subdivision's signal error compensating method according to claim 1, is characterized in that: described controlled module is tracing control platform courses end and control object.
8. tracing control platform photoelectric encoder subdivision's signal error compensating method according to claim 1, is characterized in that: described photoelectric encoder measurement module be the code used device of platform and with scrambler by the supporting segmentation of special interface and digitizing electronics equipment.
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