Research on Subdivision System of Sin-Cos Encoder Based on Zero Phase Bandpass Filter.

A novel high-precision subdivision system for high-speed encoders is designed in this work. The system is designed with an arc second of Sin-Cos Encoder (SCE) based on zero phase bandpass filter. The system collects the analog output signals of an encoder with a high-speed data acquisition system (DAS); the noise of a digital signal can be effectively eliminated by zero phase bandpass filter with appropriate prior parameters. Finally, the actual rotation angle of the encoder is calculated by the software subdivision technique in the system. The software subdivision technique includes two methods, which are the Analog Pulse Counter (APC) and the Arc Tangent Subdivision (ATS). The APC method calculates the encoder angle by counting the analog pulses acquired by the arc tangent signal. The ATS method calculates the encoder angle by computing the arc tangent results of each point. The accuracy and stability of the system are first verified with a simulated signal; second, the real signals of an SCE are acquired by a high speed DAS on a test bench of a precision reducer, which is employed in industrial robots. The results of the proposed system are compared. The experimental results show that the system can significantly improve the accuracy of the encoder angle calculation, with controllable costs.