CN102169721A - Software self-calibrating method for position codes - Google Patents
Software self-calibrating method for position codes Download PDFInfo
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- CN102169721A CN102169721A CN2010105986907A CN201010598690A CN102169721A CN 102169721 A CN102169721 A CN 102169721A CN 2010105986907 A CN2010105986907 A CN 2010105986907A CN 201010598690 A CN201010598690 A CN 201010598690A CN 102169721 A CN102169721 A CN 102169721A
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Abstract
The invention provides a software self-calibrating method for position codes and belongs to the technical field of automatic control. The method comprises: when a self-calibrating command is received, working out the differences between required codes in self-calibrating parameters and currently read codes, and storing the differences worked out as code corrections in a nonvolatile manner; no matter whether a self-calibrating command is sent or not, reading the self-calibrating corrections of the position codes from a nonvolatile memory, working out the sums of the currently received codes and the code corrections and modeling the sum worked out according to requirements of system coding precision to obtain system codes. The method is used for solving the contradiction between the randomness of the assembly of an encoder or rotary transformer in a servo system and the requirement of a batch production system on consistency of codes at a certain structural position; and position codes in an automatic control system are self-calibrated by using software, so the workload for calibrating the position codes by a process of regulating assembly positions is eliminated, the software curing is promoted, the calibration accuracy of position codes is guaranteed, and working efficiency is improved.
Description
Technical field
The invention belongs to the automatic control technology field, relate to position encoded data processing, particularly software is to position encoded demarcation certainly.
Background technology
In the automatic control system of position closed loop, usually need the position of system is demarcated, promptly need Zero positioning to the specific locations of structures with system coding, maybe needing a specific locations of structures is demarcated is a specific angular coding.Usually the mode that adopts is for adjusting the mechanical installation site of code device, or according to the angle information of the code device of fixed position by revising the software correction.Wherein, take to adjust the method for the mechanical installation site of code device, need the mechanical installation site of code device to finely tune, waste time and energy; By revising the method for software correction, need to revise software according to the angle information of the code device of fixed position, be unfavorable for the curing of software to adapt to the code device of every suit random assembling.
Summary of the invention
The technical problem to be solved in the present invention is: propose a kind of position encoded software self-calibrating method, belong to the automatic control technology field, be used for solving the contradiction of system between the coherence request of a certain locations of structures coding of randomness that servo-drive system scrambler or rotary transformer install and batch process, overcome the existing deficiency of position calibration method that adopts the mechanical installation site of adjusting code device or come update the system by modification software according to the angle information of the code device of fixed position.
The scheme of technical solution problem of the present invention comprises following operation: whether (1) receives position encoded from the judgement of demarcating order, (2) difference between the coding of calibrating parameters and current reception asks for, (3) difference that will try to achieve is carried out non-volatile memories as the coding correction, (4) from non-volatile memories, read position encoded correction, (5) coding of asking for current reception and coding correction and, (6) by the system coding accuracy requirement to try to achieve and ask behind the mould as system coding.This method at first when receiving demarcation order certainly, is asked for and require the poor of coding and the current coding that reads in calibrating parameters, and the difference of trying to achieve is carried out non-volatile memories as the correction of encoding; Next is no matter not have not from demarcating order, all from non-volatile memories, read position encoded from the coding of demarcating correction, asking for current reception and coding correction and, by the system coding accuracy requirement to try to achieve and ask mould after as system coding.
Whether described operation (1) receives position encoded judgement from the demarcation order and is meant that whether system controlling software has been received demarcation order is certainly judged.
Be meant the coding that current alliance coding need be demarcated from calibrating parameters in the asking for of the difference of described operation (2) between the coding of calibrating parameters and current reception.
The asking for of the difference of described operation (3) between the coding of calibrating parameters and current reception is meant asks for the difference that deducts the current coding that receives from scrambler or encoding board from calibrating parameters.
The difference that described operation (4) will be tried to achieve is carried out non-volatile memories as the coding correction and is meant that the difference of will try to achieve deposits the power down nonvolatile memory in as position encoded correction.
Described operation (5) is read position encoded correction and is meant and will exists the correction in the power down nonvolatile memory to read before carrying out position encoded correction from non-volatile memories.
The coding that current reception is asked in described operation (6) and coding correction and be meant obtain Control Software coding that receives and the coding correction of reading and.
Described by the system coding accuracy requirement to try to achieve and ask behind the mould as system coding be meant according to the requirement of system coding precision to try to achieve and ask modular arithmetic, that prevent to try to achieve and exceed the interval at position encoded place, will ask position encoded as system of result after the modular arithmetic.
The beneficial effect that the present invention is had compared with prior art is: this method is undertaken from demarcating by software position encoded in the automatic control system, satisfied the conformance requirement that randomness that scrambler in the servo-drive system or rotary transformer install and the system of batch process encode in a certain locations of structures, eliminated by the method for adjusting rigging position and come the workload of calibration position coding and the problem that software can't solidify, and guarantee position encoded stated accuracy easily, the method simple possible has improved work efficiency.
Description of drawings
Fig. 1 is a program flow diagram of the present invention.
Specific implementation method
The present invention is at first by having judged whether from demarcating order, determine whether to recomputate the position correction value, certainly demarcate order if having, then ask for and in calibrating parameters, require the poor of coding and the current coding that reads, the difference of trying to achieve is carried out non-volatile memories as the coding correction; If, then do not upgrade modified value from demarcating order.Secondly from non-volatile memories, read the coding modified value, the coding of asking for current reception and coding correction and, by the system coding accuracy requirement to try to achieve and ask behind the mould as system coding.
According to shown in Figure 1, position encoded software self-calibrating method comprises following operation:
(1) whether receives position encoded judgement from the demarcation order;
(2) difference between the coding of calibrating parameters and current reception asks for;
(3) difference that will try to achieve is carried out non-volatile memories as the coding correction;
(4) from non-volatile memories, read position encoded correction;
(5) coding of asking for current reception and coding correction and;
(6) by the system coding accuracy requirement to try to achieve and ask behind the mould as system coding.
From program circuit Fig. 1 as can be seen, method of the present invention at first judges whether to have received from demarcating order, if receive from demarcating order, then calculate the difference between the coding of calibrating parameters and current reception, then the difference that will try to achieve is carried out non-volatile memories as the coding correction, secondly from non-volatile memories, read modified value, the coding of asking for current reception and coding correction and, refer at last according to the requirement of system coding precision to try to achieve and ask modular arithmetic, that prevent to try to achieve and exceed the interval at position encoded place, will ask position encoded as system of result after the modular arithmetic.If do not receive from demarcating order, read in the then direct non-volatile memories and carry out position encoded correction operation.
It is pointed out that the related personnel does not anyly relate to the change of basic determination methods and processing mode or the replacement of software function also belongs to protection scope of the present invention to what the present invention made.
Claims (8)
1. position encoded software self-calibrating method is characterized in that comprising following operation:
(1) whether receives position encoded judgement from the demarcation order;
(2) difference between the coding of calibrating parameters and current reception asks for;
(3) difference that will try to achieve is carried out non-volatile memories as the coding correction;
(4) from non-volatile memories, read position encoded correction;
(5) coding of asking for current reception and coding correction and;
(6) by the system coding accuracy requirement to try to achieve and ask behind the mould as system coding.
2. position encoded software self-calibrating method according to claim 1 is characterized in that: whether described operation (1) receives position encoded judgement from the demarcation order and is meant that whether system controlling software has been received demarcation order is certainly judged.
3. position encoded software self-calibrating method according to claim 1 is characterized in that: be meant the coding that current alliance coding need be demarcated from calibrating parameters in the asking for of the difference of described operation (2) between the coding of calibrating parameters and current reception.
4. position encoded software self-calibrating method according to claim 1 and 2 is characterized in that: the asking for of the difference of described operation (2) between the coding of calibrating parameters and current reception is meant asks for the difference that deducts the current coding that receives from scrambler or encoding board from calibrating parameters.
5. according to claim 1 or 4 described position encoded software self-calibrating methods, it is characterized in that: the difference that described operation (3) will be tried to achieve is carried out non-volatile memories as the coding correction and is meant that the difference of will try to achieve in the claim 4 deposits the power down nonvolatile memory in as position encoded correction.
6. position encoded software self-calibrating method according to claim 1 is characterized in that: described operation (4) is read position encoded correction and is meant and will exists the correction in the power down nonvolatile memory to read before carrying out position encoded correction from non-volatile memories.
7. position encoded according to claim 1 or 5 software self-calibrating method is characterized in that: the coding that current reception is asked in described operation (5) and coding correction and be meant obtain the coding correction of reading in coding that Control Software receives and the claim 5 with.
8. according to claim 1 or 6 described position encoded software self-calibrating methods, it is characterized in that: described operation (6) by the system coding accuracy requirement to try to achieve and ask behind the mould as system coding be meant according to the requirement of system coding precision to try to achieve in the claim 6 and ask modular arithmetic, that prevent to try to achieve and exceed the interval at position encoded place, will ask position encoded as system of result after the modular arithmetic.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010105986907A CN102169721A (en) | 2010-12-16 | 2010-12-16 | Software self-calibrating method for position codes |
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| CN2010105986907A CN102169721A (en) | 2010-12-16 | 2010-12-16 | Software self-calibrating method for position codes |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109015646A (en) * | 2018-08-22 | 2018-12-18 | 中科新松有限公司 | Location information self-calibrating method, device, equipment and storage medium |
| CN115267711A (en) * | 2022-09-27 | 2022-11-01 | 成都信息工程大学 | Weather radar antenna directivity gross error calibration method and related product |
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| CN1704726A (en) * | 2004-06-03 | 2005-12-07 | 威海华控电工有限公司 | Four-sensor style encoder |
| CN1769844A (en) * | 2004-10-13 | 2006-05-10 | 三丰株式会社 | Encoder output signal correction apparatus and method |
| CN1869598A (en) * | 2005-05-28 | 2006-11-29 | 三星电子株式会社 | Method of correcting speed of encoder and apparatus therefor |
| CN1975336A (en) * | 2005-11-29 | 2007-06-06 | 发那科株式会社 | Signal processing circuit for encoder |
| CN101131329A (en) * | 2006-08-22 | 2008-02-27 | 松下电器产业株式会社 | Correction circuit for coder signal |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1704726A (en) * | 2004-06-03 | 2005-12-07 | 威海华控电工有限公司 | Four-sensor style encoder |
| CN1769844A (en) * | 2004-10-13 | 2006-05-10 | 三丰株式会社 | Encoder output signal correction apparatus and method |
| CN1869598A (en) * | 2005-05-28 | 2006-11-29 | 三星电子株式会社 | Method of correcting speed of encoder and apparatus therefor |
| CN1975336A (en) * | 2005-11-29 | 2007-06-06 | 发那科株式会社 | Signal processing circuit for encoder |
| CN101131329A (en) * | 2006-08-22 | 2008-02-27 | 松下电器产业株式会社 | Correction circuit for coder signal |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109015646A (en) * | 2018-08-22 | 2018-12-18 | 中科新松有限公司 | Location information self-calibrating method, device, equipment and storage medium |
| CN109015646B (en) * | 2018-08-22 | 2021-07-23 | 中科新松有限公司 | Position information self-calibration method, device, equipment and storage medium |
| CN115267711A (en) * | 2022-09-27 | 2022-11-01 | 成都信息工程大学 | Weather radar antenna directivity gross error calibration method and related product |
| CN115267711B (en) * | 2022-09-27 | 2023-02-28 | 成都信息工程大学 | Antenna directivity gross error calibration method, device, equipment and storage medium |
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Application publication date: 20110831 |