摘要
针对单对极与多对极组合式磁钢的有限角磁电编码器,提出一种有限角磁电编码器极值扇区间差值判断细分方法。利用同轴有限角范围内的单对极磁钢及多对极磁钢进行角度信号输出,采用周期圆整补偿的方法进行整周期角度信号的补充。为保证扇区角度划分均匀性,提出区间域自动补偿划分法进行单对极扇区均匀化分割,利用极值扇区间差值判断细分方法对编码器角度值细分处理,抑制了细分后有限角磁电编码器角度值跳点的出现,有效地提高了有限角磁电编码器的分辨率。提供了一种有效的增加有限角磁电编码器分辨率和精度的方法,最终采用光电-磁电编码器对比测量装置对所设计的有限角磁电编码器进行误差测量,实验结果表明,采用所提方法的有限角磁电编码器的角度输出精度为±0.55°。
The single-pole and multi-pole combined magnetic steel finite angle magneto-electric encoders are studied in this article. A finite-angle magneto-electric encoder extreme value sector difference judgment subdivision method is proposed. The angle signal is achieved by using a single-pole magnetic steel and a multi-pole magnetic steel within the coaxial finite angle range. First, for the partial loss of the original signal of the finite angle magneto-electric encoder, the full period angle signal is utilized by the periodic rounding compensation method. To ensure the uniformity of the sector angle division, an interval-domain automatic compensation division method is proposed for uniform division of a single-pole sector. The subdivision method for judging the difference between extreme sectors is used to subdivide the encoder angle value. After the subdivision, the appearance of the jump point of the angle value of the finite angle magneto-electric encoder improves the resolution of the finite angle magneto-electric encoder. It provides an effective method to increase the resolution and accuracy of the finite angle magneto-electric encoder. Finally, the photo-electric and magneto-electric encoder comparison measurement device is used to measure the error of the designed finite angle magneto-electric encoder. Experimental results show that the angular output accuracy of the finite angle magneto-electric encoder is ±0.55°.
作者
王磊
吴殿昊
韩继超
潘巍
张永德
Wang Lei;Wu Dianhao;Han Jichao;Pan Wei;Zhang Yongde(Key Laboratory of Advanced Manufacturing and Intelligent Technology,Ministry of Education,Harbin University of Science and Technology,Harbin 150080,China;Shanghai Aerospace Intelligent Equipment Co.,Ltd.,Shanghai 201112,China;Robotics&its Engineering Research Center,Harbin University of Science and Technology,Harbin 150080,China)
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2020年第7期9-18,共10页
Chinese Journal of Scientific Instrument
基金
中国博士后基金(2016M600256)
黑龙江省博士后基金(LBH-Z16092)
哈尔滨市科技创新人才研究专项基金(2017RAQXJ076)
黑龙江省普通本科高等学校青年创新人才培养计划(UNPYSCT-2018211)项目资助
关键词
有限角
磁电编码器
周期圆整补偿
扇区
差值判断
角度细分
finite angle
magnetic-encoder
cycle rounding compensation
sector
difference judgment
angle segment
