摘要
为了保证测角系统输出数据的正确性,防止经纬仪伺服控制系统接收到错误的角度编码而发生失控事故,设计了角度测量系统的实时侦错算法。通过轴角编码器前三帧的角度数据预测当前帧的角度数据,比较预测的角度数据与实际采集到的当前帧的角度数据,如果误差大于最小误差容限ε,即认为当前帧的角度数据错误。实验以24位光电轴角编码器为对象,模拟在不同转速下发生编码错误时,侦错算法的有效性。结果表明,在1°/s的低转速下,编码器"跳码"的最小误差容限可达到0.001 25°;在50°/s的高转速下,最小误差容限可达到0.062 5°。验证了侦错算法的正确性,达到了良好的侦错效果。
In order to ensure the correctness of the angle measuring system output data and to prevent the instability of the servo control system due to receiving wrong angle data, real-time detecting error algorithm is proposed. The current angle data can be predicted by using last three angle data. The error is the difference between the actual an-gle data and the predicted angle data. The actual angle data is wrong if the error is greater than the minimum error tolerance ε, otherwise, it is correct. A 24-bit photoelectric shaft eneoder is used to verify the effectiveness of the algorithm. The results show that the encoder ＂code hopping＂ minimum error tolerance can be achieved 0. 001 25° in the low speed of l°/s; it can be reached 0. 062 5° in the high speed of 50°/s. The correctness and effectiveness of the proposed scheme is verified.
出处
《电子测量与仪器学报》
CSCD
2013年第12期1200-1205,共6页
Journal of Electronic Measurement and Instrumentation
基金
国家863项目(Y2731NR130)
关键词
经纬仪
光电编码器
码盘
伺服控制
theodolite, photoelectric encoder, coder disc, servo control
