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基于惯性和单读头的圆编码器自校准方法

Self-Calibration Method for Circular Encoders Based on Inertia and a Single Read-Head.

作者信息

Wang Xiaoyi, Xiao Longyuan, Zheng Kunlei, Zhao Chengxiang, Liu Mingkang, Yao Tianyang, Zhu Dongjie, Liang Gaojie, Shi Zhaoyao

机构信息

School of Mechatronics Engineering, Henan University of Science and Technology, Luoyang 471003, China.

Henan Key Laboratory of Mechanical Design and Transmission System, Henan University of Science and Technology, Luoyang 471003, China.

出版信息

Sensors (Basel). 2024 May 11;24(10):3069. doi: 10.3390/s24103069.

DOI:10.3390/s24103069
PMID:38793923
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC11125150/
Abstract

This article proposes a new self-calibration method for circular encoders based on inertia and a single read-head. The velocity curves of the circular encoder are fitted with polynomials and, based on the principle of circle closure and the periodicity of the distribution for angle intervals, the proportionality between the theoretical value and the actual value of each angle interval is obtained. In the experimental system constructed, the feasibility of the proposed method was verified through self-calibration experiments, repeatability experiments, and comparative experiments with the time-measurement dynamic reversal (TDR) method. In addition, this article also proposes an iterative method to improve the self-calibration accuracy. Experimental verification was carried out, and the results show that the new method can effectively compensate for the error of angle measurement in the circular encoder. The peak-to-peak value of the error of angle measurement was reduced from 239.343" to 11.867", and the repeatability of the calibration results of the new method was less than 2.77".

摘要

本文提出了一种基于惯性和单个读头的圆编码器自校准新方法。对圆编码器的速度曲线进行多项式拟合，并基于圆闭合原理和角度间隔分布的周期性，得到每个角度间隔理论值与实际值之间的比例关系。在所构建的实验系统中，通过自校准实验、重复性实验以及与时间测量动态反转（TDR）方法的对比实验，验证了所提方法的可行性。此外，本文还提出了一种迭代方法来提高自校准精度。进行了实验验证，结果表明新方法能够有效补偿圆编码器角度测量误差。角度测量误差的峰峰值从239.343" 降低到11.867"，新方法校准结果的重复性小于2.77"。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0434/11125150/f8eba51cb86c/sensors-24-03069-g014.jpg
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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0434/11125150/51fa9f97816a/sensors-24-03069-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0434/11125150/56838cea734b/sensors-24-03069-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0434/11125150/52a969091ddd/sensors-24-03069-g009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0434/11125150/216b198f4972/sensors-24-03069-g010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0434/11125150/79452289de4a/sensors-24-03069-g011.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0434/11125150/c1c89487b3ee/sensors-24-03069-g012.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0434/11125150/fb4faee92255/sensors-24-03069-g013.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0434/11125150/f8eba51cb86c/sensors-24-03069-g014.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0434/11125150/4208b67c8240/sensors-24-03069-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0434/11125150/649829d22463/sensors-24-03069-g002.jpg
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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0434/11125150/5dc49d8cf70a/sensors-24-03069-g005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0434/11125150/ade426757ec4/sensors-24-03069-g006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0434/11125150/51fa9f97816a/sensors-24-03069-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0434/11125150/56838cea734b/sensors-24-03069-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0434/11125150/52a969091ddd/sensors-24-03069-g009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0434/11125150/216b198f4972/sensors-24-03069-g010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0434/11125150/79452289de4a/sensors-24-03069-g011.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0434/11125150/c1c89487b3ee/sensors-24-03069-g012.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0434/11125150/fb4faee92255/sensors-24-03069-g013.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0434/11125150/f8eba51cb86c/sensors-24-03069-g014.jpg

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