CN107607037A - A kind of magnetism encoder scaling method based on transregional tabulating method of arc tangent - Google Patents
A kind of magnetism encoder scaling method based on transregional tabulating method of arc tangent Download PDFInfo
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- CN107607037A CN107607037A CN201710838855.5A CN201710838855A CN107607037A CN 107607037 A CN107607037 A CN 107607037A CN 201710838855 A CN201710838855 A CN 201710838855A CN 107607037 A CN107607037 A CN 107607037A
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Abstract
The invention discloses a kind of magnetism encoder scaling method based on transregional tabulating method of arc tangent,It is related to magnetism encoder manufacturing field,The collection of signal is carried out by magnetism encoder first,By stages arc tangent inquiring arithmetic is recycled to calculate the measurement angle of magnetism encoder,By way of 360 ° of whole circumference is divided into 8 45 ° of subintervals,Avoid larger be also easy to produce of difficulty in computation when arc-tangent value has positive and negative infinite and calculate the problem of wrong,Finally benchmark is used as using 16 precision photoelectric encoder measured values,Demarcation amendment is carried out to the measurement angle that cutting method anyway is tried to achieve based on transregional average tabulating method,Error is eliminated by way of across intervals linear interpolation,This method can overcome that tradition has positive and negative infinite value in blanking method anyway and magnet steel position has the problem of machine error causes measurement accuracy to decline,Angle calibration is carried out to magnetism encoder.
Description
Technical field：
The present invention relates to a kind of magnetism encoder scaling method based on transregional tabulating method of arc tangent, belongs to magnetoelectricity coding
Device manufacturing technology field.
Background technology：
Encoder is used for measurement angle, is the core parts for realizing motor control, is widely used in mechanical engineering, machine
The high-tech sectors such as people, aviation, precision optical instrument, vital effect is played in modern industry.Wherein magnetoelectricity encodes
The strong interference immunity of device, to the adaptable of the adverse circumstances such as dust and misty rain, code disk can be repeatedly recorded and wipe
Remove, and the cost manufactured is relatively low relative to photoelectric encoder, is adapted to small lot production, industrial environment encodes to magnetoelectricity at present
The demand of device is growing.
The precision of magnetism encoder is less than photoelectric encoder, and often it is demarcated using photoelectric encoder, passes through compensation
The deviation of synchronism output is to improve the measurement accuracy of magnetism encoder between the two.Arc tangent algorithm is that magnetism encoder is main
Angle computation method, this method sampled using Hall element to magnetic field signal, then carries out follow-up signal calculating processing,
And obtain current angle value.
But traditional arc tangent algorithm is that difficulty in computation is larger when positive infinite sum bears infinite and easily draws in arc-tangent value
Rise and calculate mistake, and mechanical erection deviation inevitably be present in the installation of Hall element, and magnet steel magnetization process are present partially
Difference, the magnetic field signal as caused by magnet steel are not ideal sinusoidal waveforms, and the magnetic sensitive characteristic of each Hall element is different, can cause
There is deviation in the magnetoelectricity signal of collection, it is digital quantity that magnetoelectricity signal, which is needed by analog-to-digital conversion, in addition, can be introduced in this process
Noise causes angle calculation error, and above-mentioned error can cause the angle-measurement accuracy of magnetism encoder to decline.
The content of the invention：
In view of the above-mentioned problems, the technical problem to be solved in the present invention is to provide a kind of based on transregional tabulating method of arc tangent
Magnetism encoder scaling method, magnetism encoder angle is calculated by by stages arc tangent inquiring arithmetic, and based on transregional
Average tabulating method carries out angle calibration amendment, to improve the stability and measurement accuracy of magnetism encoder calculating.
Above-mentioned purpose is mainly realized by following scheme：
A kind of magnetism encoder scaling method based on transregional tabulating method of arc tangent of the present invention, it is characterised in that：Institute
The specific implementation process for stating method is：
Step 1：The collection of magnetoelectricity signal
Magnetism encoder is pasted onto electricity using generating device of the single pair pole magnet steel of surface-mount type as signal, single pair pole magnet steel
On the end face of machine rotating shaft, during axis of rotation, single pair pole magnet steel is with axis of rotation and produces sinusoidal magnetic field, four Hall element (A+、
A-、B+, B-) interval 90 ° be evenly distributed in Hall Plate, Hall Plate be arranged on electric motor end cap on, the uniform axis of Hall element
Conllinear with shaft axis, Hall element is arranged towards magnet steel, magnetoelectricity analog signal is acquired using Hall component, 4 tunnels
Hall signal passes through difference, and analog-to-digital conversion calculates d-q axle magnetoelectricity signals；
In view of the non-linear of magnetic field, Hall element A+The magnetoelectricity signal of collectionContaining DC bias and higher hamonic wave,
Formula (1) can be used to represent：
Wherein θ is measurement angle,Σ is DC bias, △ c1For higher hamonic wave, on A- Hall elements
The magnetoelectricity signal of sensingFormula (2) can be used to represent：
Similarly, B+, B- collection signal be respectively
By A+、A-、B+, the magnetoelectricity signal diameter that collects of B- Halls subtract each other to obtain d-q axle magnetoelectricity signals, such as formula (3) institute
Show：
Step 2：Magnetism encoder angle is calculated using by stages arc tangent inquiring arithmetic
Magnetism encoder angle is calculated such as shown in (4) using arc tangent formula：
Whole circumference is divided into 8 sections, the angular range of each minizone is between 0 ° to 45 °, and arc-tangent value is 0
To between 1, can avoid in calculating process due to arc-tangent value occur it is just infinite and negative infinite and caused by result of calculation mistake
Situation, by comparing positive and negative and its absolute value the size of d-q axle hall signals, judge residing angular interval and with accordingly
Arc tangent formula calculates relative angle θ of the angle to be measured in residing section0', work as θ0' not in 0 ° to 45 ° of interval range when
Need by adding and subtracting periodic transformation in 0 ° to 45 ° interval range, as shown in formula (5), i.e.,
θ0=θ0' ± nT, wherein T=45 °, n is integer (5)
When arc tangent formula used is arctan (dh/qh) when, relative angle adds the angle lower limit θ in residing sectionlI.e.
It can obtain the actual angle θ of angle to be measuredT, as shown in formula (6)；
θT=θ0+θl (6)
When arc tangent formula used is arctan (qh/dh) when, the angle upper limit θ in residing sectionhSubtract relative angle i.e.
It can obtain the actual angle θ of angle to be measuredT, as shown in formula (7)；
θT=θh-θ0 (7)
Such as when d axis signals is just, q axis signals be negative, and satisfaction | dh|<|qh| when, angle to be measured is between 0~45 °,
Relative angle θ of the angle to be measured in the section0' can be by arctan (dh/qh) try to achieve, the angle lower limit θ in residing sectionl=0 °,
The then actual angle θ of angle to be measuredT=θ0+0°；
When d axis signals is just, q axis signals are unsatisfactory for for just | dh|<|qh| when, angle to be measured is between 45~90 °,
Relative angle θ of the angle to be measured in the section0' can be by arctan (qh/dh) try to achieve, the angle upper limit θ in residing sectionh=
90 °, then the actual angle θ of angle to be measuredT=90 ° of-θ0；
When d axis signals is just, q axis signals are negative, and are unsatisfactory for | dh|<|qh| when, angle to be measured be in 90~135 ° it
Between, relative angle θ of the angle to be measured in the section0' can be by arctan (qh/dh) try to achieve, the angle upper limit θ in residing sectionh=
135 °, then the actual angle θ of angle to be measuredT=135 ° of-θ0；
When d axis signals is just, q axis signals be negative, and satisfaction | dh|<|qh| when, angle to be measured is between 135~180 °,
Relative angle θ of the angle to be measured in the section0' can be by arctan (dh/qh) try to achieve, the angle lower limit θ in residing sectionl=
135 °, then the actual angle θ of angle to be measuredT=θ0+135°；
When d axis signals are negative, q axis signals are negative, and are met | dh|<|qh| when, angle to be measured is between 180~225 °,
Relative angle θ of the angle to be measured in the section0' can be by arctan (dh/qh) try to achieve, the angle lower limit θ in residing sectionl=
180 °, then the actual angle θ of angle to be measuredT=θ0+180°；
When d axis signals are negative, q axis signals are negative, and are unsatisfactory for | dh|<|qh| when, angle to be measured be in 225~270 ° it
Between, relative angle θ of the angle to be measured in the section0' can be by arctan (qh/dh) try to achieve, the angle upper limit θ in residing sectionh=
270 °, then the actual angle θ of angle to be measuredT=270 ° of-θ0；
When d axis signals is just, q axis signals are negative, and are unsatisfactory for | dh|<|qh| when, angle to be measured be in 270~315 ° it
Between, relative angle θ of the angle to be measured in the section0' can be by arctan (qh/dh) try to achieve, the angle upper limit θ in residing sectionh=
315 °, then the actual angle θ of angle to be measuredT=315 ° of-θ0；
When d axis signals is just, q axis signals be negative, and satisfaction | dh|<|qh| when, angle to be measured is between 315~360 °,
Relative angle θ of the angle to be measured in the section0' can be by arctan (dh/qh) try to achieve, the angle lower limit θ in residing sectionl=
180 °, then the actual angle θ of angle to be measuredT=θ0+315°；
Step 3：Angle calibration amendment based on transregional average tabulating method
There is angular deviation in the angle obtained by arc tangent algorithm, the angle value being calculated is carried out into angle calibration,
Using the photoelectric encoder measured value of 16 precision (0-65535 represents 0-360 °) as benchmark, the magnetoelectricity that corrected Calculation comes out is compiled
The measured value of code device；
Magnetism encoder, motor, photoelectric encoder are coaxially mounted to demarcate on turntable, motor rotation, by magnetoelectricity
The angle value synchronism output that encoder and photoelectric encoder measure, obtains the angular deviation of magnetism encoder and photoelectric encoder
Value, is handled the deviation of output by way of across intervals linear interpolation, such as to collection point MjCorresponding deviation is entered
During row processing, first to MjThe adjacent four collection point M in left sidej-1, Mj-2, Mj-3, Mj-4Corresponding deviation asks for deviation average θp1, then
To MjThe adjacent four collection point M in right sidej+1, Mj+2, Mj+3, Mj+4Corresponding deviation asks for error mean θp2, utilize θp1, θp2Line
Property interpolation goes out the angle error value θ of target pointp0, as shown in formula (8), compiled all interpolation results as magnetism encoder and photoelectricity
Angle compensation form is made in offset between code device, takes the offset in angle compensation form to be used as angle compensation amount by looking into
The output result of magnetism encoder is modified, to improve the measurement accuracy of magnetism encoder.
The magnetism encoder angle obtained using arctangent computation corresponds to the integer type data of 16, due to high 10 data
Be present fluctuation in stable and low 6 data, therefore only included in angle compensation form with the high ten digit value k (0-1023) of angle value
For the deviation corresponding to collection point, low 6 bit value b (0-63) is obtained by local mesh subdivision, i.e., using the high 10 of angle value
Numerical value tables look-up to obtain error correction values C (k) to form, and using low 6 bit value b (0-63) to the mistake that is checked under same high 10
Poor correction value is averaging processing, and corresponding low 6 bit value is distributed to after obtained average result is added up successively, is now passed through
The final correction value C of magnetism encoder angular error after tabling look-up and segmentingF(k) formula (9) can be written as：
The then measured value θ of final magnetism encoder angleFBy being calculated using by stages arc tangent inquiring arithmetic
The actual angle θ of angle to be measuredTWith obtaining the final correction value C of angular error based on transregional average tabulating methodF(k) plus and, such as
Shown in formula (10)：
θF=θT+CF(k) (10)
Beneficial effects of the present invention are：
1st, by stages arc tangent inquiring arithmetic is proposed, is overcome in traditional arc tangent algorithm, due to arc-tangent value
Difficulty in computation is larger when bearing infinite for positive infinite sum and easily causes the situation for calculating mistake, improves the stabilization of arctangent computation
Property.
2nd, transregional average tabulating method is proposed, angle compensation value is optimized for a smooth curve, avoids angle
The introducing of system noise in compensation process, magnetism encoder and photoelectric encoder noise are eliminated to being compensated in angle compensation forms
The harmful effect of value, the angle jitter of magnetism encoder is avoided, improve the measurement accuracy of magnetism encoder.
3rd, angle compensation is carried out by the way of angle compensation form using looking into take, reduce the calculating time of control system, carry
The high response speed of encoder.
Brief description of the drawings：
For ease of explanation, the present invention is described in detail by following specific implementations and accompanying drawing.
Fig. 1 is the demarcation schematic flow sheet that the inventive method obtains；
Fig. 2 is that the computation interval of by stages arc tangent inquiring arithmetic in the present invention divides schematic diagram；
Fig. 3 is the magnetoelectricity angular encoder and light for carrying out angle calibration amendment in the present invention without transregional average tabulating method
The angle difference figure of photoelectric coder；
Fig. 4 is the magnetoelectricity angular encoder and light for carrying out angle calibration amendment in the present invention without transregional average tabulating method
The once differentiation value figure of the angle difference of photoelectric coder；
Fig. 5 is the magnetoelectricity angular encoder and light for carrying out angle calibration amendment in the present invention by transregional average tabulating method
The angle difference figure of photoelectric coder；
Fig. 6 is the magnetoelectricity angular encoder and light for carrying out angle calibration amendment in the present invention by transregional average tabulating method
The once differentiation value figure of the angle difference of photoelectric coder.
Embodiment：
It is specific below by what is shown in accompanying drawing to make the object, technical solutions and advantages of the present invention of greater clarity
Embodiment describes the present invention.However, it should be understood that these descriptions are merely illustrative, and it is not intended to limit the model of the present invention
Enclose.In addition, in the following description, the description to known features and technology is eliminated, to avoid unnecessarily obscuring the present invention's
Concept.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, present embodiment uses following technical scheme：One kind is based on
The magnetism encoder scaling method of transregional tabulating method of arc tangent, it is characterised in that：The specific implementation process of methods described is：
Step 1：The collection of magnetoelectricity signal
Magnetism encoder is pasted onto electricity using generating device of the single pair pole magnet steel of surface-mount type as signal, single pair pole magnet steel
On the end face of machine rotating shaft, during axis of rotation, single pair pole magnet steel is with axis of rotation and produces sinusoidal magnetic field, four Hall element (A+、
A-、B+, B-) interval 90 ° be evenly distributed in Hall Plate, Hall Plate be arranged on electric motor end cap on, the uniform axis of Hall element
Conllinear with shaft axis, Hall element is arranged towards magnet steel, magnetoelectricity analog signal is acquired using Hall component, 4 tunnels
Hall signal passes through difference, and analog-to-digital conversion calculates d-q axle magnetoelectricity signals；
In view of the non-linear of magnetic field, Hall element A+The magnetoelectricity signal of collectionContaining DC bias and higher hamonic wave,
Formula (1) can be used to represent：
Wherein θ is measurement angle,Σ is DC bias, △ c1For higher hamonic wave, on A- Hall elements
The magnetoelectricity signal of sensingFormula (2) can be used to represent：
Similarly, B+, B- collection signal be respectively
By A+、A-、B+, the magnetoelectricity signal diameter that collects of B- Halls subtract each other to obtain d-q axle magnetoelectricity signals, such as formula (3) institute
Show：
Step 2：Magnetism encoder angle is calculated using by stages arc tangent inquiring arithmetic
Magnetism encoder angle is calculated such as shown in (4) using arc tangent formula：
Whole circumference is divided into 8 sections, the angular range of each minizone is between 0 ° to 45 °, and arc-tangent value is 0
To between 1, can avoid in calculating process due to arc-tangent value occur it is just infinite and negative infinite and caused by result of calculation mistake
Situation, by comparing positive and negative and its absolute value the size of d-q axle hall signals, judge residing angular interval and with accordingly
Arc tangent formula calculates relative angle θ of the angle to be measured in residing section0', work as θ0' not in 0 ° to 45 ° of interval range when
Need by adding and subtracting periodic transformation in 0 ° to 45 ° interval range, as shown in formula (5), i.e.,
θ0=θ0' ± nT, wherein T=45 °, n is integer (5)
When arc tangent formula used is arctan (dh/qh) when, relative angle adds the angle lower limit θ in residing sectionlI.e.
It can obtain the actual angle θ of angle to be measuredT, as shown in formula (6)；
θT=θ0+θl (6)
When arc tangent formula used is arctan (qh/dh) when, the angle upper limit θ in residing sectionhSubtract relative angle i.e.
It can obtain the actual angle θ of angle to be measuredT, as shown in formula (7)；
θT=θh-θ0 (7)
Such as when d axis signals is just, q axis signals be negative, and satisfaction | dh|<|qh| when, angle to be measured is between 0~45 °,
Relative angle θ of the angle to be measured in the section0' can be by arctan (dh/qh) try to achieve, the angle lower limit θ in residing sectionl=0 °,
The then actual angle θ of angle to be measuredT=θ0+0°；
When d axis signals is just, q axis signals are unsatisfactory for for just | dh|<|qh| when, angle to be measured is between 45~90 °,
Relative angle θ of the angle to be measured in the section0' can be by arctan (qh/dh) try to achieve, the angle upper limit θ in residing sectionh=
90 °, then the actual angle θ of angle to be measuredT=90 ° of-θ0；
When d axis signals is just, q axis signals are negative, and are unsatisfactory for | dh|<|qh| when, angle to be measured be in 90~135 ° it
Between, relative angle θ of the angle to be measured in the section0' can be by arctan (qh/dh) try to achieve, the angle upper limit θ in residing sectionh=
135 °, then the actual angle θ of angle to be measuredT=135 ° of-θ0；
When d axis signals is just, q axis signals be negative, and satisfaction | dh|<|qh| when, angle to be measured is between 135~180 °,
Relative angle θ of the angle to be measured in the section0' can be by arctan (dh/qh) try to achieve, the angle lower limit θ in residing sectionl=
135 °, then the actual angle θ of angle to be measuredT=θ0+135°；
When d axis signals are negative, q axis signals are negative, and are met | dh|<|qh| when, angle to be measured is between 180~225 °,
Relative angle θ of the angle to be measured in the section0' can be by arctan (dh/qh) try to achieve, the angle lower limit θ in residing sectionl=
180 °, then the actual angle θ of angle to be measuredT=θ0+180°；
When d axis signals are negative, q axis signals are negative, and are unsatisfactory for | dh|<|qh| when, angle to be measured be in 225~270 ° it
Between, relative angle θ of the angle to be measured in the section0' can be by arctan (qh/dh) try to achieve, the angle upper limit θ in residing sectionh=
270 °, then the actual angle θ of angle to be measuredT=270 ° of-θ0；
When d axis signals is just, q axis signals are negative, and are unsatisfactory for | dh|<|qh| when, angle to be measured be in 270~315 ° it
Between, relative angle θ of the angle to be measured in the section0' can be by arctan (qh/dh) try to achieve, the angle upper limit θ in residing sectionh=
315 °, then the actual angle θ of angle to be measuredT=315 ° of-θ0；
When d axis signals is just, q axis signals be negative, and satisfaction | dh|<|qh| when, angle to be measured is between 315~360 °,
Relative angle θ of the angle to be measured in the section0' can be by arctan (dh/qh) try to achieve, the angle lower limit θ in residing sectionl=
180 °, then the actual angle θ of angle to be measuredT=θ0+315°；
Step 3：Angle calibration amendment based on transregional average tabulating method
There is angular deviation in the angle obtained by arc tangent algorithm, the angle value being calculated is carried out into angle calibration,
Using the photoelectric encoder measured value of 16 precision (0-65535 represents 0-360 °) as benchmark, the magnetoelectricity that corrected Calculation comes out is compiled
The measured value of code device；
Magnetism encoder, motor, photoelectric encoder are coaxially mounted to demarcate on turntable, motor rotation, by magnetoelectricity
The angle value synchronism output that encoder and photoelectric encoder measure, obtains the angular deviation of magnetism encoder and photoelectric encoder
Value, is handled the deviation of output by way of across intervals linear interpolation, such as to collection point MjCorresponding deviation is entered
During row processing, first to MjThe adjacent four collection point M in left sidej-1, Mj-2, Mj-3, Mj-4Corresponding deviation asks for deviation average θp1, then
To MjThe adjacent four collection point M in right sidej+1, Mj+2, Mj+3, Mj+4Corresponding deviation asks for error mean θp2, utilize θp1, θp2Line
Property interpolation goes out the angle error value θ of target pointp0, as shown in formula (8), compiled all interpolation results as magnetism encoder and photoelectricity
Angle compensation form is made in offset between code device, takes the offset in angle compensation form to be used as angle compensation amount by looking into
The output result of magnetism encoder is modified, to improve the measurement accuracy of magnetism encoder.
The magnetism encoder angle obtained using arctangent computation corresponds to the integer type data of 16, due to high 10 data
Be present fluctuation in stable and low 6 data, therefore only included in angle compensation form with the high ten digit value k (0-1023) of angle value
For the deviation corresponding to collection point, low 6 bit value b (0-63) is obtained by local mesh subdivision, i.e., using the high 10 of angle value
Numerical value tables look-up to obtain error correction values C (k) to form, and using low 6 bit value b (0-63) to the mistake that is checked under same high 10
Poor correction value is averaging processing, and corresponding low 6 bit value is distributed to after obtained average result is added up successively, is now passed through
The final correction value C of magnetism encoder angular error after tabling look-up and segmentingF(k) formula (9) can be written as：
The then measured value θ of final magnetism encoder angleFBy being calculated using by stages arc tangent inquiring arithmetic
The actual angle θ of angle to be measuredTWith obtaining the final correction value C of angular error based on transregional average tabulating methodF(k) plus and, such as
Shown in formula (10)：
θF=θT+CF(k) (10)
The general principle and principal character and advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the simply explanation described in above-described embodiment and specification is originally
The principle of invention, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (1)
- A kind of 1. magnetism encoder scaling method based on transregional tabulating method of arc tangent, it is characterised in that：The tool of methods described Body implementation process is：Step 1：The collection of magnetoelectricity signalUsing generating device of the single pair pole magnet steel of surface-mount type as signal, single pair pole magnet steel is pasted onto motor and turned magnetism encoder On the end face of axle, during axis of rotation, single pair pole magnet steel is with axis of rotation and produces sinusoidal magnetic field, four Hall element (A+、A-、 B+, B-) interval 90 ° be evenly distributed in Hall Plate, Hall Plate be arranged on electric motor end cap on, the uniform axis of Hall element with turn Axle axis collinear, Hall element is arranged towards magnet steel, magnetoelectricity analog signal is acquired using Hall component, 4 road Halls Signal passes through difference, and analog-to-digital conversion calculates d-q axle magnetoelectricity signals；In view of the non-linear of magnetic field, Hall element A+The magnetoelectricity signal of collectionContaining DC bias and higher hamonic wave, formula can be used (1) represent：Wherein θ is measurement angle,Σ is DC bias, △ c1For higher hamonic wave, sense on A- Hall elements Magnetoelectricity signalFormula (2) can be used to represent：Similarly, B+, B- collection signal be respectivelyBy A+、A-、B+, the magnetoelectricity signal diameter that collects of B- Halls subtract each other to obtain d-q axle magnetoelectricity signals, as shown in formula (3)：Step 2：Magnetism encoder angle is calculated using by stages arc tangent inquiring arithmeticMagnetism encoder angle is calculated such as shown in (4) using arc tangent formula：Whole circumference is divided into 8 sections, the angular range of each minizone is between 0 ° to 45 °, and arc-tangent value is 0 to 1 Between, can avoid in calculating process due to arc-tangent value occur it is just infinite and negative infinite and caused by result of calculation mistake feelings Condition, by comparing positive and negative and its absolute value the size of d-q axle hall signals, judge residing angular interval and with anti-accordingly Tangent formula calculates relative angle θ of the angle to be measured in residing section0', work as θ0' not in 0 ° to 45 ° of interval range when need Will be by adding and subtracting periodic transformation in 0 ° to 45 ° interval range, as shown in formula (5), i.e.,θ0=θ0' ± nT, wherein T=45 °, n is integer (5)When arc tangent formula used is arctan (dh/qh) when, relative angle adds the angle lower limit θ in residing sectionlIt can obtain To the actual angle θ of angle to be measuredT, as shown in formula (6)；θT=θ0+θl (6)When arc tangent formula used is arctan (qh/dh) when, the angle upper limit θ in residing sectionhSubtracting relative angle can obtain To the actual angle θ of angle to be measuredT, as shown in formula (7)；θT=θh-θ0 (7)Such as when d axis signals is just, q axis signals be negative, and satisfaction | dh|<|qh| when, angle to be measured is between 0~45 °, to be measured Relative angle θ of the angle in the section0' can be by arctan (dh/qh) try to achieve, the angle lower limit θ in residing sectionl=0 °, then treat The actual angle θ of measuring angleT=θ0+0°；When d axis signals is just, q axis signals are unsatisfactory for for just | dh|<|qh| when, angle to be measured is between 45~90 °, to be measured Relative angle θ of the angle in the section0' can be by arctan (qh/dh) try to achieve, the angle upper limit θ in residing sectionh=90 °, then The actual angle θ of angle to be measuredT=90 ° of-θ0；When d axis signals is just, q axis signals are negative, and are unsatisfactory for | dh|<|qh| when, angle to be measured is between 90~135 °, is treated Relative angle θ of the measuring angle in the section0' can be by arctan (qh/dh) try to achieve, the angle upper limit θ in residing sectionh=135 °, The then actual angle θ of angle to be measuredT=135 ° of-θ0；When d axis signals is just, q axis signals be negative, and satisfaction | dh|<|qh| when, angle to be measured is between 135~180 °, to be measured Relative angle θ of the angle in the section0' can be by arctan (dh/qh) try to achieve, the angle lower limit θ in residing sectionl=135 °, then The actual angle θ of angle to be measuredT=θ0+135°；When d axis signals are negative, q axis signals are negative, and are met | dh|<|qh| when, angle to be measured is between 180~225 °, to be measured Relative angle θ of the angle in the section0' can be by arctan (dh/qh) try to achieve, the angle lower limit θ in residing sectionl=180 °, then The actual angle θ of angle to be measuredT=θ0+180°；When d axis signals are negative, q axis signals are negative, and are unsatisfactory for | dh|<|qh| when, angle to be measured is between 225~270 °, is treated Relative angle θ of the measuring angle in the section0' can be by arctan (qh/dh) try to achieve, the angle upper limit θ in residing sectionh=270 °, The then actual angle θ of angle to be measuredT=270 ° of-θ0；When d axis signals is just, q axis signals are negative, and are unsatisfactory for | dh|<|qh| when, angle to be measured is between 270~315 °, is treated Relative angle θ of the measuring angle in the section0' can be by arctan (qh/dh) try to achieve, the angle upper limit θ in residing sectionh=315 °, The then actual angle θ of angle to be measuredT=315 ° of-θ0；When d axis signals is just, q axis signals be negative, and satisfaction | dh|<|qh| when, angle to be measured is between 315~360 °, to be measured Relative angle θ of the angle in the section0' can be by arctan (dh/qh) try to achieve, the angle lower limit θ in residing sectionl=180 °, then The actual angle θ of angle to be measuredT=θ0+315°；Step 3：Angle calibration amendment based on transregional average tabulating methodThere is angular deviation in the angle obtained by arc tangent algorithm, the angle value being calculated is carried out into angle calibration, by 16 The magnetism encoder that the photoelectric encoder measured value of position precision (0-65535 represents 0-360 °) comes out as benchmark, corrected Calculation Measured value；Magnetism encoder, motor, photoelectric encoder are coaxially mounted to demarcate on turntable, motor rotation, magnetoelectricity encoded The angle value synchronism output that device and photoelectric encoder measure, obtains the angu-lar deviation of magnetism encoder and photoelectric encoder, leads to The mode crossed across intervals linear interpolation is handled the deviation of output, and such as count collection MjAt corresponding deviation During reason, first to MjThe adjacent four collection point M in left sidej-1, Mj-2, Mj-3, Mj-4Corresponding deviation asks for deviation average θp1, then to Mj The adjacent four collection point M in right sidej+1, Mj+2, Mj+3, Mj+4Corresponding deviation asks for error mean θp2, utilize θp1, θp2It is linear to insert Mend out the angle error value θ of target pointp0, as shown in formula (8), using all interpolation results as magnetism encoder and photoelectric encoder Between offset angle compensation form is made, take the offset in angle compensation form to be used as angle compensation amount to magnetic by looking into The output result of photoelectric coder is modified, to improve the measurement accuracy of magnetism encoder.The magnetism encoder angle obtained using arctangent computation corresponds to the integer type data of 16, due to high 10 data stabilizations It is to adopt only to be included and low 6 data have fluctuation, therefore in angle compensation form with the high ten digit value k (0-1023) of angle value The corresponding deviation of collection point, low 6 bit value b (0-63) is obtained by local mesh subdivision, i.e., using high 10 bit value of angle value Table look-up to obtain error correction values C (k) to form, and the error checked under same high 10 is repaiied using low 6 bit value b (0-63) On the occasion of being averaging processing, corresponding low 6 bit value is distributed to after obtained average result is added up successively, now by tabling look-up And the final correction value C of magnetism encoder angular error after subdivisionF(k) formula (9) can be written as：The then measured value θ of final magnetism encoder angleFFor by the angle measurement being calculated using by stages arc tangent inquiring arithmetic The actual angle θ of degreeTWith obtaining the final correction value C of angular error based on transregional average tabulating methodF(k) plus and, such as formula (10) It is shown：θF=θT+CF(k) (10)。
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