Zhao Haoning, Xu Jiazhong, Zhang Haibin, Liu Zhen, Dong Shi
School of Automation, Harbin University of Science and Technology, Harbin 150080, China.
HRG Hefei International Institute for Research and Innovation, Hefei 230000, China.
Sensors (Basel). 2019 Jul 10;19(14):3041. doi: 10.3390/s19143041.
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.
本文设计了一种用于高速编码器的新型高精度细分系统。该系统基于零相位带通滤波器，以角秒级的正弦 - 余弦编码器（SCE）进行设计。系统通过高速数据采集系统（DAS）采集编码器的模拟输出信号；利用具有适当先验参数的零相位带通滤波器可有效消除数字信号的噪声。最后，通过系统中的软件细分技术计算编码器的实际旋转角度。软件细分技术包括两种方法，即模拟脉冲计数器（APC）和反正切细分（ATS）。APC方法通过对反正切信号采集的模拟脉冲进行计数来计算编码器角度。ATS方法通过计算各点的反正切结果来计算编码器角度。首先用模拟信号验证系统的精度和稳定性；其次，在工业机器人所用精密减速器的试验台上，通过高速DAS采集SCE的真实信号，并对所提系统的结果进行比较。实验结果表明，该系统能显著提高编码器角度计算的精度，且成本可控。
