CN109708681A - Encoder calibration method and device - Google Patents
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Abstract
The invention discloses a kind of encoder calibration method and devices, including driving high-precision encoder driving motor rotation, and triggers the encoder analog-to-digital conversion module rotated synchronously with high-precision encoder driving motor and original analog is acquired with the sampling order of SIN, COS, COS, SIN；Encoder is triggered using the average value of the original analog SIN value of double sampling as sampled point SIN value；Encoder is triggered using the average value of the original analog COS value of double sampling as sampled point COS value；It is input resolve angles value that encoder, which is triggered, with the sampled point SIN value and sampled point COS value.Average value processing is done in sampling by alternating sampling and several times, can reduce encoder since original signal amplitude is beated, and caused by position beat.Pass through fitting of a polynomial and generate calibration parameter, the calibration of original signal is carried out to encoder.After the correction for carrying out position to output angle by encoder nonlinearity erron curve and compensation, the precision of the output angle of encoder is improved.
Description
Technical field
The present invention relates to technical field of motors more particularly to a kind of encoder calibration method and devices.
Background technique
In movement-control application, rotary encoder is very crucial for the control of system, and task is exactly to control to system
The position of device indication motor axis, system controller can use location information, accurately and efficiently turn to and determine to machine winding
Speed and direction.And encoder can be based on various technologies, but either still be based on magnetic technology based on optical technology, be directed to
To the compensation technique of calibration and location error to original signal.
Magnetic coder has production equipment simple, is suitble to have impact, dust, the clear superiorities such as oil pollution environment work, but also deposits
Due to magnetic material it is inconsistent, installation deviation, nonlinearity erron caused by temperature drift, magnetic component difference etc. so that
There is precision reduction when providing position in magnetic coder.
Absolute type rotary magnetic encoder is a kind of contactless position sensor, and it is anti-to be capable of providing 0~360 ° of position
Feedback.Encoder magnetic links are a piece of magnetic sheets with a pair of of south and north poles magnetic field, opposing stationary with machine shaft, when motor turns
When axis rotates, the magnetoresistive sensor being mounted on encoder circuit plate can generate a pair of cosine and sine signal for differing 90 °, pass through magnetic
The ADC module of single-chip microcontroller samples digital signal processing unit on encoder circuit plate, carries out complicated Digital Signal Processing solution
Calculate 0~360 ° of angular position.Then pass through synchronous serial communication interface (SSC Interface) or increment interface
(Incremental IF) output, schematic diagram is as shown in Figure 1, the precision calibration of magnetic coder is carried out in signal processing.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.For this purpose, of the invention
One purpose is to propose a kind of encoder calibration method and device.
On the one hand, to achieve the above object, encoder calibration method according to an embodiment of the present invention, the encoder calibration
Method includes:
The rotation of high-precision encoder driving motor is driven, and triggers the volume rotated synchronously with high-precision encoder driving motor
Code device analog-to-digital conversion module acquires original analog with the sampling order of SIN, COS, COS, SIN；
Encoder is triggered using the average value of the original analog SIN value of double sampling as sampled point SIN value；
Encoder is triggered using the average value of the original analog COS value of double sampling as sampled point COS value；
It is input resolve angles value that encoder, which is triggered, with the sampled point SIN value and sampled point COS value.
Further, an example according to the present invention passes through the sampled point SIN value and sampled point COS value described
It is further comprised the steps of: before resolving encoder angular value
Each sampled point SIN value and sampled point COS value are received, and receives the reference of high-precision encoder driving motor
Value；
Pass through the reference value of the high-precision encoder driving motor and each sampled point SIN value and sampled point COS
Value carries out fitting of a polynomial, obtains the calibration parameter of original signal；
The calibration parameter is transmitted to the encoder to store, to each sampled point SIN value and sampling
Point COS value is calibrated.
Further, an example according to the present invention, is deposited the calibration parameter is transmitted to the encoder
It is further comprised the steps of: after storage
The rotation of high-precision encoder driving motor is driven, and triggers the volume rotated synchronously with high-precision encoder driving motor
Code device analog-to-digital conversion module is with the analog signal after the sampling order acquisition calibration of SIN, COS, COS, SIN；
It receives and calculates the SIN value and COS value after each sampled point calibration, and receive high-precision encoder driving motor
Reference value；
By the reference value of the high-precision encoder driving motor, the SIN value and COS value analog signal error are determined
Whether within the set range, if the SIN value and COS value analog signal error after calibration are within the set range, to terminate
This step；Otherwise, continue to execute driving high-precision encoder driving motor rotation, and trigger encoder analog-to-digital conversion module with
The sampling order of SIN, COS, COS, SIN acquire original analog.
Further, an example according to the present invention, the calibration parameter include: zero deviation, amplitude proportion coefficient
And phase deviation.
Further, an example according to the present invention is determining whether are the SIN value and COS value analog signal error
It further comprises the steps of: afterwards within the set range
The rotation of high-precision encoder driving motor is driven, and triggers the volume rotated synchronously with high-precision encoder driving motor
Code device resolve angles value；
Receive the reference of the angle value and high-precision encoder driving motor that export in the encoder one mechanical week
Value；
The error for obtaining the encoder by the reference value of the angle value and high-precision encoder driving motor is bent
Line and Stepwise calibration parameter；
The error curve is transmitted to the encoder with Stepwise calibration parameter to store, with the angle value to output
It is corrected.
Further, an example according to the present invention, by the Stepwise calibration parameter be transmitted to the encoder into
It is further comprised the steps of: after row storage
The rotation of high-precision encoder driving motor is driven, and triggers the volume rotated synchronously with high-precision encoder driving motor
Code device resolves and the angle value after output calibration；
Receive the reference value of the angle value and high-precision encoder driving motor in a mechanical week after encoder calibration；
Whether the encoder angular value error precision is determined by the reference value of the high-precision encoder driving motor
Within the set range, if the angle value error precision within the set range, terminates this step；Otherwise, it continues to execute described
The rotation of high-precision encoder driving motor is driven, and triggers the encoder resolve angles value.
On the other hand, the present invention also provides a kind of coder calibrating devices, comprising:
Band high-precision encoder driving motor；
Motor to be calibrated, the rotation axis of the motor to be calibrated and the rotation with high-precision encoder driving motor connect
It connects, the motor to be calibrated is equipped with magnetic coder to be calibrated, and the band high-precision encoder driving motor is described for driving
The rotation axis of motor to be calibrated rotates synchronously；
Industrial personal computer, the industrial personal computer are described for receiving respectively with the band high-precision encoder driving motor and connection
Reference value with the output of high-precision encoder driving motor with the value to be calibrated of the motor to be calibrated, by the reference value with
And the value to be calibrated carries out the calibration of output angle to the magnetic coder to be calibrated.
Further, an example according to the present invention, further includes: driver, the driver respectively with the industry control
Machine and with high-precision encoder driving motor, the output driving for receiving the industrial personal computer instructs, and compiles to the band high-precision
The driving that code device driving motor is rotated.
Further, an example according to the present invention, further includes: interface conversion circuit, the interface circuit respectively with
The industrial personal computer and motor to be calibrated, for the interface signal between the industrial personal computer and motor to be calibrated to be carried out mutual turn
It changes.
Further, an example according to the present invention, further includes: the rotation axis of connecting shaft body, the motor to be calibrated is logical
It crosses the connecting shaft body to connect with the shaft with high-precision encoder driving motor, to drive the rotation of the motor to be calibrated
Axis rotates synchronously.
Further, an example according to the present invention, further includes: connection panel, the connection panel is used for will be described
Connecting shaft body is installed on the band high-precision encoder driving motor.
Further, an example according to the present invention, further includes: motor support frame, the motor support frame for pair
The motor to be calibrated carries out installation fixation.
Further, an example according to the present invention, further includes: motor positioning pin, it is described pass through to measured motor it is described
Motor positioning pin is installed on the motor support frame.
Further, an example according to the present invention, further includes:
First motor support plate, the first motor support plate are connect with the motor to be calibrated, for being described to school
Alignment motor provides support；
Second motor support plate, second motor support plate are connect with the band high-precision encoder driving motor, are used
In pass through the band high-precision encoder driving motor provide support；
First motor support bar, the first motor support bar are arranged in the first motor support plate and the second motor branch
Between fagging.
The embodiment of the present invention is provided in encoder calibration method and device, can solve original signal by alternating sampling
SIN, COS asynchronous sampling and cause encoder position error harmonic content increase, in turn result in encoder position accuracy decline
The problem of.Meanwhile average value processing is done to sampling several times, it can reduce in same position point, encoder is due to original signal width
Value bounce, and caused by position beat.
Original nonideal sinusoidal signal can be shaped to close to ideal sinusoidal signal by fitting of a polynomial.And it produces
Raw calibration parameter, the calibration of original signal is carried out to encoder.
After the correction for carrying out position to output angle by encoder nonlinearity erron curve and compensation, encoder is improved
The precision of output angle.
Detailed description of the invention
Fig. 1 be magnetic coder provided in an embodiment of the present invention and with calibrator (-ter) unit, system controller attachment structure schematic diagram；
Fig. 2 be SIN and COS signal provided in an embodiment of the present invention with to should output angle schematic diagram；
Fig. 3 is calibration platform structure schematic diagram provided in an embodiment of the present invention；
Fig. 4 is band high-precision encoder driving motor provided in an embodiment of the present invention and shows to measured motor and coder structure
It is intended to；
Fig. 5 is band high-precision encoder driving motor provided in an embodiment of the present invention and decomposes knot to measured motor and encoder
Structure schematic diagram；
Fig. 6 is encoder calibration method flow diagram provided in an embodiment of the present invention；
Fig. 7 is another encoder calibration method flow diagram provided in an embodiment of the present invention；
Fig. 8 is another encoder calibration method flow diagram provided in an embodiment of the present invention；
Fig. 9 is the encoder original signal unitary sampling schematic diagram provided in the prior art；
Figure 10 is encoder original signal alternating sampling schematic diagram provided in an embodiment of the present invention；
Figure 11 is the schematic diagram of original signal provided in an embodiment of the present invention fitting front and back；
Figure 12 is encoder output angle diagonals schematic diagram provided in an embodiment of the present invention；
Figure 13 is the non-correction error schematic diagram of encoder output angle provided in an embodiment of the present invention；
Figure 14 is error schematic diagram after encoder output angle correct provided in an embodiment of the present invention.
Appended drawing reference:
Band high-precision encoder driving motor 10；
Motor 20 to be calibrated；
Magnetic coder 30 to be calibrated；
Industrial personal computer 40；
Driver 50；
Interface conversion circuit 60；
Connecting shaft body 70；
Connect panel 80；
Motor support frame 90；
Motor positioning pin 11；
First motor support plate 12；
Second motor support plate 13；
First motor support bar 14.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described.Unless otherwise defined, used herein
All technical and scientific terms have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.Herein
Used term, which is only for the purpose of describing specific embodiments, in the description of the invention is not intended to limit this
Invention.
Referenced herein " embodiment " is it is meant that a particular feature, structure, or characteristic described can wrap in conjunction with the embodiments
Containing at least one embodiment of the present invention.Each position in the description occur the phrase might not each mean it is identical
Embodiment, nor the independent or alternative embodiment with other embodiments mutual exclusion.Those skilled in the art explicitly and
Implicitly understand, embodiment described herein can be combined with other embodiments.
On the one hand, a kind of encoder calibration method is provided to Figure 10 embodiment of the present invention refering to fig. 1, comprising steps of
S101, driving high-precision encoder driving motor rotation, and trigger turn synchronous with high-precision encoder driving motor
Dynamic encoder analog-to-digital conversion module acquires original analog with the sampling order of SIN, COS, COS, SIN；Refering to Fig. 9, by
In the magnetic coder of low cost, if selecting single sampling, the processing chip of single retainer ADC configuration, there is original signal two-phases
Nonsynchronous problem is acquired, if that is, SIN signal is first sampled after sampling COS, and the retention time is sampled and needs n μ s, then make
Fall behind SIN signal n μ s at COS signal.Due to the data sampling asynchronous of SIN, COS, lead to the error of the output angle of encoder.Ginseng
It reads Figure 10, in the embodiment of the present invention, is sequentially sampled in an example of the present invention by alternating sampling SIN, COS signal
Tetra- signals of SIN, COS, COS, SIN.
S102, triggering encoder are using the average value of the original analog SIN value of double sampling as sampled point SIN value；
Encoder is triggered using the average value of the original analog COS value of double sampling as sampled point COS value；Sampling several times is done flat
Average value processing, using the average value of sampling as the value of sampled point.
S103, triggering encoder are input resolve angles value with the sampled point SIN value and sampled point COS value.Pass through friendship
Can solve original signal SIN for sampling, COS asynchronous sampling and cause encoder position error harmonic content increase, in turn
The problem of causing encoder position accuracy decline.Meanwhile average value processing is done to sampling several times, it can reduce in same position
Point, encoder due to original signal amplitude beat, and caused by position beat.
Refering to Fig. 7, it is described encoder angular value is resolved by the sampled point SIN value and sampled point COS value before also
Comprising steps of
S202, each sampled point SIN value and sampled point COS value are received, and receives high-precision encoder driving motor
Reference value；Refering to Fig. 3, in this step, driving high-precision encoder driving motor rotation, and trigger and driven with high-precision encoder
The encoder analog-to-digital conversion module that motor rotates synchronously acquires the original of multiple sampled points with the sampling order of SIN, COS, COS, SIN
Beginning analog signal；And receive each sampled point SIN value and sampled point COS value.High-precision encoder driving motor is received simultaneously
Reference value, using as calibration reference value.
S203, pass through the reference value of the high-precision encoder driving motor and each sampled point SIN value and sampled point
COS value carries out fitting of a polynomial, obtains the calibration parameter of original signal；In practical application, even if can be realized to SIN COS
The synchronized sampling of signal, but due to component difference and installation deviation etc., will cause collected original signal is unreasonably
Think signal, that is, there is zero deviation (DC Offset), SIN COS amplitude is unequal, SIN COS phase difference is non-critical 90 °.
Refering to fig. 11, it is non-ideal signal in view of original signal SIN, COS, needs to encode the signal after sampling by the high-precision
The reference value of device driving motor first carries out a fitting of a polynomial calibration (shaping of signal), misses to significantly reduce signal
Difference.It reduces subsequent resolving and corrects occupied resource.As shown in Figure 11, reason is more nearly by the signal after fitted calibration
Think signal (solid line in Figure 11 is original signal, and dotted line is the signal after fitted calibration).It is original by being obtained after fitted calibration
The calibration parameter of signal；Further, in an example of the present invention, the calibration parameter includes: zero deviation, Amplitude Ration
Example coefficient and phase deviation.
S204, the calibration parameter be transmitted to the encoder store, with to each sampled point SIN value and
Sampled point COS value is calibrated.It is stored by the way that the calibration parameter is transmitted to the encoder, passes through institute in encoder
State sampled point SIN value and when sampled point COS value carries out solution operation, can be carried out by the calibration parameter sampled point SIN value and
The calibration of sampled point COS value, to improve angle precision.
Refering to Fig. 7, further comprised the steps of: the calibration parameter to be transmitted to after the encoder is stored
S205, driving high-precision encoder driving motor rotation, and trigger turn synchronous with high-precision encoder driving motor
Dynamic encoder analog-to-digital conversion module is with the analog signal after the sampling order acquisition calibration of SIN, COS, COS, SIN；This step
In, by the analog signal after acquisition calibration to be verified to calibration result.This step process is similar with step S202.
S206, reception simultaneously calculate SIN value and COS value after each sampled point calibration, and receive high-precision encoder and drive
The reference value of dynamic motor；
S207, the SIN value and COS by the reference value of the high-precision encoder driving motor, after determining calibration
Whether to be within the set range worth analog signal error, if the SIN value and COS value analog signal error after calibration are to set
In range, then terminate this step；Otherwise, driving high-precision encoder driving motor rotation is continued to execute, and triggers encoder mould
Number conversion module acquires original analog with the sampling order of SIN, COS, COS, SIN.By being driven with high-precision encoder
The reference value of motor is compared, and whether the SIN value and COS value analog signal error after judging calibration are in setting range
It is interior, if in the range of setting, then it represents that after calibration, the SIN value and COS value analog signal meet the requirement of precision；
Otherwise, the requirement for not meeting precision needs to re-start the process of fitting treatment of calibration parameter.
Refering to Fig. 8, determining whether the SIN value and COS value analog signal error further include step afterwards within the set range
It is rapid:
S308, driving high-precision encoder driving motor rotation, and trigger turn synchronous with high-precision encoder driving motor
Dynamic encoder resolve angles value；In encoder in use, may there is nonlinearity erron caused by other factors to make system
Resolve angles precision reduces, so that there are also < ± 1 ° of nonlinearity errons for the signal after angle resolving.In this step, pass through driving
The rotation of high-precision encoder driving motor resolves simultaneously output angle angle value to trigger encoder.
S309, the angle value and high-precision encoder driving motor exported in the encoder one mechanical week is received
Reference value；
S310, the mistake that the encoder is obtained by the reference value of the angle value and high-precision encoder driving motor
Poor curve and Stepwise calibration parameter；In order to improve precision.It needs magnetic coder output position angle value and reference value comparing simultaneously
Stepwise calibration is carried out to reach design requirement to error.For example, n equal part is divided by 0~360 °, respectively in n point sampling
This encoder output value and 23 photoelectric encoders of reference position signal, are denoted as Error array as difference.When needing magnetic coder defeated
It is tabled look-up and Error array and through row linear interpolation arithmetic and is exported with the output valve that angle resolves when out.In present example, divide
Cubic spline interpolation can be used in Duan Jiaozheng.Cubic spline interpolation is by an a series of smooth curve of shape value points, mathematics
The upper process that curvilinear function group is obtained by solving three moments euqation group.Spline interpolation is substantially to be segmented three times
Curve matching.
S311, it the error curve and Stepwise calibration parameter is transmitted to the encoder stores, to output
Angle value is corrected.2, Figure 13 and Figure 14 refering to fig. 1, Figure 12 are the output angle oblique line figure of magnetic coder.Figure 13 is not lead to
The output angle error curve diagram of over-angle value correction, Figure 14 are the output angle error curve diagram after angle value correction.By upper
It is found that improving output angle precision after correcting by angle value.
Refering to Fig. 8, further comprised the steps of: the Stepwise calibration parameter to be transmitted to after the encoder is stored
S312, driving high-precision encoder driving motor rotation, and trigger turn synchronous with high-precision encoder driving motor
Dynamic encoder resolves and the angle value after output calibration；In this step, by the output angle after acquisition correction to school
Positive result is verified.This step process is similar with step S308.
The ginseng of S313, the angle value in reception one mechanical week after encoder calibration and high-precision encoder driving motor
Examine value；
S314, the encoder angular value error precision is determined by the reference value of the high-precision encoder driving motor
Whether within the set range, if the angle value error precision within the set range, terminates this step；Otherwise, it continues to execute
The driving high-precision encoder driving motor rotation, and trigger the encoder resolve angles value.By being encoded with high-precision
The reference value of device driving motor is compared, and whether within the set range to judge encoder angular value error, if in the model of setting
In enclosing, then it represents that after correction, the encoder angular value meets the requirement of precision；Otherwise, do not meet the requirement of precision,
Need to re-start the process of fitting treatment of correction parameter.
The embodiment of the present invention is provided in encoder calibration method and device, can solve original signal by alternating sampling
SIN, COS asynchronous sampling and cause encoder position error harmonic content increase, in turn result in encoder position accuracy decline
The problem of.Meanwhile average value processing is done to sampling several times, it can reduce in same position point, encoder is due to original signal width
Value bounce, and caused by position beat.
Original nonideal sinusoidal signal can be shaped to by fitting of a polynomial close to ideal sinusoidal signal, such as be schemed
Shown in 5, shown in solid is original SIN, COS signal, it can be seen that original signal zero deviation (DC Offset), SIN COS
Amplitude is unequal, SIN COS phase difference is non-critical 90 °, the SIN after over-fitting, COS signal is as shown in phantom in Figure 5, connects
Nearly ideal sinusoidal curve.
It is encoder position feedback profile respectively shown in Fig. 6, position after encoder nonlinearity erron curve and compensation
Residual error, it can be seen that compensated positioning accuracy reaches within 80 rads.
On the other hand, refering to Fig. 3, Fig. 4 and Fig. 5, the present invention provides a kind of coder calibrating device, comprising: band high-precision
Encoder-driven motor 10, motor to be calibrated 20 and industrial personal computer 40, the rotation axis of the motor 20 to be calibrated and the band are high-precision
The rotation connection of encoder-driven motor 10 is spent, the motor 20 to be calibrated is equipped with magnetic coder 30 to be calibrated, and the band is high
Precision encoding device driving motor 10 passes through described to be calibrated for driving the rotation axis of the motor to be calibrated 20 to rotate synchronously
The resolving of the progress rotational angle of magnetic coder 30；The exportable high-precision reference of the band high-precision encoder driving motor 10
Value, since the band high-precision encoder driving motor 10 can drive the magnetic coder to be calibrated 30 to rotate synchronously.At this point, institute
State that magnetic coder 30 to be calibrated output is corresponding with the high-precision reference value to be calibrated value.
The industrial personal computer 40 respectively with the band high-precision encoder driving motor 10 and connect, it is high for receiving the band
The reference value that precision encoding device driving motor 10 exports with the value to be calibrated of the motor 20 to be calibrated, by the reference value with
And the value to be calibrated carries out the calibration of output angle to the magnetic coder 30 to be calibrated.In one embodiment of the present of invention
In, the calibration includes the parametric calibration to original sampled signal, for example, original sampled signal calibration parameter includes: that zero point is inclined
Difference, amplitude proportion coefficient and phase deviation etc..
In another embodiment of the present invention, the calibration further includes the calibration to output angle.The industrial personal computer 40
On the one hand drive control is carried out to the band high-precision encoder driving motor 10, controls the band high-precision encoder driving electricity
Machine 10 rotates, and on the other hand, receives the reference value and described to be tested exported with high-precision encoder driving motor 10
Encoder output is calibrated value, by process of fitting treatment, generates calibration parameter, and magnetic coder 30 to be calibrated described in storage value
In memory, to be calibrated to the magnetic coder 30 to be calibrated.
Refering to Fig. 3, further includes: driver 50, the driver 50 are encoded with the industrial personal computer 40 and with high-precision respectively
Device driving motor 10, the output driving for receiving the industrial personal computer 40 instructs, to the band high-precision encoder driving motor
10 drivings rotated.The driver 50 receives the drive command that the industrial personal computer 40 exports, and is ordered by the driving
Output drive signal to the band high-precision encoder driving motor 10 is enabled to be driven.
Refering to Fig. 3, further includes: interface conversion circuit 60, the interface circuit respectively with the industrial personal computer 40 and to be calibrated
Motor 20, for the interface signal between the industrial personal computer 40 and motor to be calibrated 20 to be carried out mutual conversion.Due to described
Interface between industrial personal computer 40 and motor to be calibrated 20 is not identical, needs through the interface conversion circuit 60 with input and output
Signal is converted.Realize the communication between industrial personal computer 40 and motor to be calibrated 20.
Refering to Fig. 5, further includes: the rotation axis of connecting shaft body 70, the motor 20 to be calibrated passes through the connecting shaft body 70 and institute
The shaft connection with high-precision encoder driving motor 10 is stated, to drive the rotation axis of the motor to be calibrated 20 to rotate synchronously.
Described 70 one end of connecting shaft body is arranged in the shaft with high-precision encoder, turn of the other end and the motor 20 to be calibrated
Moving axis connection, with by it is described with motor to be calibrated 20 described in high-precision encoder band logical rotation axis synchronous rotation, it is described to
Test encoder carries out angular coding output to the motor 20 to be calibrated.The synchronism output of angle is realized by connecting shaft body 70,
It is calibrated with treating test encoder by the output with high-precision encoder driving motor 10.
Refering to Fig. 5, further includes: connection panel 80, the connection panel 80 are used to for the connecting shaft body 70 being installed to described
On band high-precision encoder driving motor 10.One end face of the connection panel 80 and the band high-precision encoder driving motor
10 are fixedly connected, and other end is fixedly connected with the connecting shaft body 70, so that the connecting shaft body 70 installation is fixed to the band
High-precision encoder driving motor 10 is gone on axis.
Refering to Fig. 5, further includes: motor support frame 90, the motor support frame 90 be used for the motor 20 to be calibrated into
Row installation is fixed.Since the motor 20 to be calibrated has certain gravity, and it is disposed vertically.It, may when carrying out calibration test
Causing to place unstable leads to error.The motor 20 to be calibrated can be subjected to installation fixation by the motor support frame 90.
Motor is avoided to place unstable.
Refering to Fig. 5, further includes: motor positioning pin 11, it is described that institute is installed to by the motor positioning pin 11 to measured motor
It states on motor support frame 90.It is described to be fixed to measured motor by the motor positioning pin 11 and the motor support frame 90 installation.
It is simple and convenient.
Refering to Fig. 5, further includes: first motor support plate 12, the second motor support plate 13 and first motor support bar 14, institute
It states first motor support plate 12 to connect with the motor 20 to be calibrated, for providing support for the motor 20 to be calibrated；Pass through
The first motor support plate 12 and the bottom of the motor 20 to be calibrated are mutually fixed, so that the motor to be calibrated 20 is relatively steady
It is fixed.As shown in the figure, the bottom of motor 20 to be calibrated is completely fixed in the first motor support plate 12, the first motor branch
Fagging 12 is horizontal positioned.Greatly improve the stabilization to measured motor.
Second motor support plate 13 is connect with the band high-precision encoder driving motor 10, for passing through the band
High-precision encoder driving motor 10 provides support；Second motor support plate 13 is high-precision fixed to the band by fixed column
The top end surface of encoder-driven motor 10 is spent, and leans on the position of proximal edge.To be relatively fixed.
The first motor support bar 14 is arranged between the first motor support plate 12 and the second motor support plate 13.
The first motor support bar 14 is set as two, by two first motor support bars 14 to the first motor support plate
12 are supported.The connecting shaft body 70 is in the position at the middle part in the space of the composition of described two first motor support bars 14
It sets.The upper and lower side of the first motor support bar 14 respectively with 13 phase of the first motor support plate 12 and the second motor support plate
It is fixed.
The above is only the embodiment of the present invention, are not intended to limit the scope of the patents of the invention, although with reference to the foregoing embodiments
Invention is explained in detail, still can be to aforementioned each specific reality for coming for those skilled in the art
It applies technical solution documented by mode to modify, or equivalence replacement is carried out to part of technical characteristic.It is all to utilize this
The equivalent structure that description of the invention and accompanying drawing content are done directly or indirectly is used in other related technical areas, similarly
Within the invention patent protection scope.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art are not departing from the principle of the present invention and objective
In the case where can make changes, modifications, alterations, and variations to the above described embodiments within the scope of the invention.
Claims (10)
1. a kind of encoder calibration method characterized by comprising
The rotation of high-precision encoder driving motor is driven, and triggers the encoder rotated synchronously with high-precision encoder driving motor
Analog-to-digital conversion module acquires original analog with the sampling order of SIN, COS, COS, SIN；
Encoder is triggered using the average value of the original analog SIN value of double sampling as sampled point SIN value；
Encoder is triggered using the average value of the original analog COS value of double sampling as sampled point COS value；
It is input resolve angles value that encoder, which is triggered, with the sampled point SIN value and sampled point COS value.
2. encoder calibration method according to claim 1, which is characterized in that pass through the sampled point SIN value described
It is further comprised the steps of: before resolving encoder angular value with sampled point COS value
Each sampled point SIN value and sampled point COS value are received, and receives the reference value of high-precision encoder driving motor；
By the reference value of the high-precision encoder driving motor and each sampled point SIN value and sampled point COS value, into
Row fitting of a polynomial obtains the calibration parameter of original signal；
The calibration parameter is transmitted to the encoder to store, to each sampled point SIN value and sampled point COS
Value is calibrated.
3. encoder calibration method according to claim 2, which is characterized in that described the calibration parameter to be transmitted to
Encoder further comprises the steps of: after being stored
The rotation of high-precision encoder driving motor is driven, and triggers the encoder rotated synchronously with high-precision encoder driving motor
Analog-to-digital conversion module is with the analog signal after the sampling order acquisition calibration of SIN, COS, COS, SIN；
It receives and calculates the SIN value and COS value after each sampled point calibration, and receive the ginseng of high-precision encoder driving motor
Examine value；
By the reference value of the high-precision encoder driving motor, determine whether are the SIN value and COS value analog signal error
Within the set range, if the SIN value and COS value analog signal error after calibration are within the set range, to terminate this step
Suddenly；Otherwise, continue to execute driving high-precision encoder driving motor rotation, and trigger encoder analog-to-digital conversion module with SIN,
The sampling order of COS, COS, SIN acquire original analog.
4. encoder calibration method according to claim 2 or 3, which is characterized in that the calibration parameter includes: that zero point is inclined
Difference, amplitude proportion coefficient and phase deviation.
5. encoder calibration method according to claim 3, which is characterized in that determining the SIN value and the simulation of COS value
Whether signal errors further comprises the steps of: afterwards within the set range
The rotation of high-precision encoder driving motor is driven, and triggers the encoder rotated synchronously with high-precision encoder driving motor
Resolve angles value；
Receive the reference value of the angle value and high-precision encoder driving motor that export in the encoder one mechanical week；
By the reference value of the angle value and high-precision encoder driving motor obtain the error curve of the encoder with
Stepwise calibration parameter；
The error curve is transmitted to the encoder with Stepwise calibration parameter to store, to carry out the angle value of output
Correction.
6. encoder calibration method according to claim 5, which is characterized in that be transmitted to by the Stepwise calibration parameter
The encoder further comprises the steps of: after being stored
The rotation of high-precision encoder driving motor is driven, and triggers the encoder rotated synchronously with high-precision encoder driving motor
Angle value after resolving simultaneously output calibration；
Receive the reference value of the angle value and high-precision encoder driving motor in a mechanical week after encoder calibration；
Determine whether the encoder angular value error precision is setting by the reference value of the high-precision encoder driving motor
Determine in range, if the angle value error precision is within the set range, terminates this step；Otherwise, the driving is continued to execute
The rotation of high-precision encoder driving motor, and trigger the encoder resolve angles value.
7. a kind of coder calibrating device characterized by comprising
Band high-precision encoder driving motor；
Motor to be calibrated, the rotation axis of the motor to be calibrated and the rotation connection with high-precision encoder driving motor,
The motor to be calibrated is equipped with magnetic coder to be calibrated, and the band high-precision encoder driving motor is described to school for driving
The rotation axis of alignment motor rotates synchronously；
Industrial personal computer, the industrial personal computer are high for receiving the band respectively with the band high-precision encoder driving motor and connection
The reference value of precision encoding device driving motor output passes through the reference value and institute with the value to be calibrated of the motor to be calibrated
State the calibration that value to be calibrated carries out output angle to the magnetic coder to be calibrated.
8. coder calibrating device according to claim 7, which is characterized in that further include: driver, the driver point
Not with the industrial personal computer and with high-precision encoder driving motor, the output driving for receiving the industrial personal computer is instructed, to institute
State the driving rotated with high-precision encoder driving motor.
9. coder calibrating device according to claim 7, which is characterized in that further include: interface conversion circuit, it is described to connect
Mouthful circuit respectively with the industrial personal computer and motor to be calibrated, for by the interface signal between the industrial personal computer and motor to be calibrated
Carry out mutual conversion.
10. coder calibrating device according to claim 7, which is characterized in that further include: connecting shaft body, it is described to be calibrated
The rotation axis of motor is connect by the connecting shaft body with the shaft with high-precision encoder driving motor, with drive it is described to
The rotation axis for calibrating motor rotates synchronously.
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