摘要
磁编码器轴角解算技术是伺服系统中反馈电机运动状态的关键技术之一。磁编码器轴角解算的精度是决定伺服系统精度的关键因素之一。为提高轴角解算的精度,基于霍尔式磁编码器工作原理,设计了基于Arduino的磁编码器轴角解算系统。该系统以Arduino作为主控制器,由正交安装在磁铁下方的2个霍尔元件构成磁编码器。磁编码器感应磁场变化,并输出2路正交电压信号。采用高精度外围独立模数转换(ADC)采样模块ADS1115,对2路输出信号采样后输入至Arduino,分别通过反正切法和锁相环法实现轴角解算。将该磁编码器安装在带有17位光电编码器的伺服同步电机上,对解算的轴角进行对比试验。试验结果表明,该系统能有效解算电机轴角。其中,锁相环法的解算结果相对反正切法精度更高。该系统结构简单、成本低,能有效进行磁编码器轴角实时解算,对实际工程应用具有一定的参考价值。
The magnetic encoder shaft angle solution technology is one of the key technologies for feedback of the motor’s motion state in the servo system.The accuracy of the magnetic encoder shaft angle solution is one of the key factors that determine the accuracy of the servo system.In order to improve the accuracy of the shaft angle calculation,an Arduino-based magnetic encoder shaft angle calculation system is designed based on the working principle of the Hall-type magnetic encoder.The system uses Arduino as the main controller,and a magnetic encoder is composed of two Hall elements orthogonally installed under the magnet.The magnetic encoder induces changes in the magnetic field and outputs two orthogonal voltage signals.Using the high-precision peripheral independent analog-to-digital(ADC)sampling module ADS1115,the two output signals are sampled and input to the Arduino,and the shaft angle is calculated by the arctangent method and the phase-locked loop method respectively.The magnetic encoder was installed on a servo synchronous motor with a 17-bit photoelectric encoder,and a comparative experiment was carried out on the calculated shaft angle.The experimental results show that the system can effectively calculate the motor shaft angle,and the calculation result of the phase-locked loop method is more accurate than the arctangent method.The system has simple structure and low cost,can effectively calculate the shaft angle of the magnetic encoder in real time,and has certain reference value for practical engineering applications.
作者
赵磊
曹广忠
梁芳萍
孙俊缔
胡勇
王芸
ZHAO Lei;CAO Guangzhong;LIANG Fangping;SUN Jundi;HU Yong;WANG Yun(School of Mechatronics and Control Engineering,Shenzhen University,Shenzhen 518060,China;Shenzhen Simphoenix Electrical Technology Co. ,Ltd. ,Shenzhen 518126,China)
出处
《自动化仪表》
CAS
2022年第2期6-11,共6页
Process Automation Instrumentation
基金
国家自然科学基金重点基金资助项目(U1813212)
深圳市科技计划基金资助项目(JSGG20200701095406010)
深圳市科技计划基金资助项目(JCYJ20190808112605503)。
