基于光电编码器的永磁球形电动机转子方位测量系统
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摘要
设计了基于光电编码器的三自由度永磁球形电动机转子方位测量系统。介绍了永磁球形电动机的结构和球体方位描述方法。通过分析微分运动,推导出测量系统的误差矩阵,并对系统性能进行了分析。系统中,光电编码器的输出脉冲经硬件电路倍频、鉴相、可逆计数和存储后,由单片机进行计算,测得的转子方位由液晶显示器(LCD)实时显示并经串口发送到电机闭环控制系统中。实验验证表明:设计的测量系统的有效性。
A rotor orientation measurement system based on photoelectric encoder which can be applied to permanent magnet( PM) spherical motor of a three degrees of freedom( DoF) is designed. Structure of the PM spherical motor and the description method of spherical orientation are introduced. By analyzing differential motion,error matrix of the measurement system is deduced,and the performance of the system is analyzed. In this system,after frequency doubling,phase discrimination,reversible counting and storage with the hardware circuit,the output pulse of photoelectric encoder is calculated by microcontroller unit( MCU). Measured rotor orientation is displayed on LCD in realtime,and is sent to closed-loop control system of motor through serial port. Validity of the measuring system is verified by experiment.
A rotor orientation measurement system based on photoelectric encoder which can be applied to permanent magnet( PM) spherical motor of a three degrees of freedom( DoF) is designed. Structure of the PM spherical motor and the description method of spherical orientation are introduced. By analyzing differential motion,error matrix of the measurement system is deduced,and the performance of the system is analyzed. In this system,after frequency doubling,phase discrimination,reversible counting and storage with the hardware circuit,the output pulse of photoelectric encoder is calculated by microcontroller unit( MCU). Measured rotor orientation is displayed on LCD in realtime,and is sent to closed-loop control system of motor through serial port. Validity of the measuring system is verified by experiment.
引文
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[2]王群京,雍爱霞,陈丽霞,等.一种永磁球形步进电机转子位置的检测方法[J].中国电机工程学报,2006,26(22):92-96.
[3]王群京,钱喆,李争,等.基于机器视觉的永磁球形步进电动机转子位置检测方法[J].中国电机工程学报,2008,28(36):73-79.
[4] STEIN D,EDWARD R S,GREGORY S C. Mathematical models of binary spherical-motion encoders[J]. IEEE/ASME Transactions on Mechatronics,2003,8(2):234-244.
[5] LEE K M,KWAN C K. Design concept development of a spherical stepper for robotic applications[J]. IEEE Transactions on Robotic and Automation,1991,7(1):175-180.
[6]潘明东.光电编码器输出脉冲的几种计数方法[J].电子工程师,2004,30(8):69-71.
[7]于靖军.机器人机构学的数学基础[M].北京:机械工业出版社,2008.
[8]代杰,樊瑜瑾,张学丽,等.基于单片机的光电编码器的位置检测系统设计[J].计算机测量与控制,2011,19(1):17-19.
[9]信建国.永磁球形电动机磁场优化与转子方位检测[D].天津:天津大学,2011.