小型绝对式光电编码器动态误差检测系统及方法研究
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摘要
随着现代科学技术的飞速发展以及航空航天技术的进步，各个研究单位对光电编码器的精度要求越来越高。不仅要求光电编码器能够实时输出角度位置信息，同时还要求光电编码器在角速度、角加速度作用下保精度输出数据。目前国内对光电编码器只能检测静态精度，对动态误差的检测还没有有效的方法。因此急需开展光电编码器动态误差检测系统及方法的研究。
本文在参考国内外大量文献资料的基础上，对小型绝对式光电编码器误差检测方法进行了深入的研究，对比分析了国内外各检测方法的优缺点；研究了动态误差理论，深入分析了各因素对小型绝对式光电编码器动态误差的影响，为研究小型绝对式光电编码器动态误差检测奠定了理论基础。
建立了小型绝对式光电编码器动态误差检测系统，完成了动态检测系统的软、硬件设计；提出了小型绝对式光电编码器动态误差数据处理方法；通过实验验证了小型绝对式光电编码器动态误差检测系统的可靠性。
提出了高实时性、高精度、高分辨力基准光电编码器的实现方法，设计了基准光电编码器高实时性细分电路；采用径向基函数神经网络理论，实现了对基准光电编码器的高速误差补偿；提高了基准编码器的分辨力、测角精度及响应速度。
提出了基于空间矢量力矩合成法的检测转台驱动方法。通过对无刷直流电机三相绕组通电时产生的力矩合成分析，研究了基于空间矢量力矩合成法的无刷直流电机驱动方法，实现了恒力矩稳速转动，有效降低了速度波动对光电编码器误差检测的影响。
提出了基于贝叶斯理论优化最小二乘法的误差评估算法，在样本数据较少的情况下，实现了对小型绝对式光电编码器动态误差的评估；提出了基于小波变换及谱估计的动态误差分量评估算法，将光电编码器动态误差进行分解，实现了对各误差分量的评估。
运用本文研究的方法设计了小型绝对式光电编码器动态误差检测系统，并对小型绝对式光电编码器进行了动态误差检测实验。所设计的动态误差检测系统精度为1.26″，转动范围为0~90r/min，能够实现对16位以下的小型绝对式光电编码器进行动态误差检测。实验表明：所设计的动态误差检测系统具有检测精度高、操作简单、环境适应性强等优点；所提出的动态误差评估方法准确可靠。研究结果可用于对小型绝对式光电编码器的动态误差检测，为改善光电编码器动态误差提供依据，对研制小型绝对式光电编码器具有重要的意义。
During the development of science, the progress of technology and the rapiddevelopment of aerospace technology, every research department requires higherprecision of encoder. Not only does they require the real time angle informationoutput but also the accuracy in angular velocity or acceleration state during theincreasing of sensibility to angular velocity and angular acceleration in photoelectricmeasuring and tracking equipment. Recently, it can only detect static state errorsinteriorly; there are not effective methods to detect dynamic errors. Therefore, theresearches of dynamic detection system and methods on the errors of photoelectricencoder are urgently needful.
Thoroughly, this paper analyses the dynamic errors detection methods of smallsize photoelectric encoder on the base of substantive references at home and abroad;the merit and demerit of these detection methods are contrasted. The influences offactors on the errors of photoelectric encoder are analyzed by the study on dynamicerror theory; these works laid foundation for the dynamic errors detection of smallsize absolute photoelectric encoder.
The dynamic errors detection system is established and its software and hardwareare designed; the data processing method is proposed. The experiments prove that thedynamic error detection system is reliable.
The method of high precision, high resolution and real-time angle reference isproposed and the circuit of high speed subdivision is designed; the high speed errorcompensation is achieved by using the theory of RBF neural network; the resolutionratio, the precision and response of angle reference encoder are improved.
The drive system of dynamic detection equipment using space-vector torquecombination is proposed. In the analysis of the composite torque by three phasewinding, this paper studies space-vector torque combination drive method. The motorcan rotate in stable speed with constant torque and the stable drive system effectivelyreduces the effect of speed fluctuation on the detection error.
The error assessment method is proposed based on least square method optimizedby Bayesian theory. It can assess the errors of small size absolute photoelectricencoder when there are less sample data; the component assessment methods ofdynamic error are proposed based on wavelet transform and power spectrumestimation, they can decompose the dynamic errors into error components and assessthe error components.
The detection system of small size photoelectric encoder is designed by usingthese methods. The error detection experiments of small size photoelectric encoderare completed by using the detection system. The detection precision of this system isbetter than1.26", the range of its speed is0~90r/min, and it can achieve dynamic errordetection of small size absolute photoelectric encoder below16bit. The experimentsshow that the detection equipment is high precision, convenient and no strictrequirements on the environment, the error assessment method is dependable. Theresults of research can be applied to the dynamic detection of photoelectric encoder,meanwhile provide evidence for the manufacture of small size photoelectric encoder.
本文在参考国内外大量文献资料的基础上，对小型绝对式光电编码器误差检测方法进行了深入的研究，对比分析了国内外各检测方法的优缺点；研究了动态误差理论，深入分析了各因素对小型绝对式光电编码器动态误差的影响，为研究小型绝对式光电编码器动态误差检测奠定了理论基础。
建立了小型绝对式光电编码器动态误差检测系统，完成了动态检测系统的软、硬件设计；提出了小型绝对式光电编码器动态误差数据处理方法；通过实验验证了小型绝对式光电编码器动态误差检测系统的可靠性。
提出了高实时性、高精度、高分辨力基准光电编码器的实现方法，设计了基准光电编码器高实时性细分电路；采用径向基函数神经网络理论，实现了对基准光电编码器的高速误差补偿；提高了基准编码器的分辨力、测角精度及响应速度。
提出了基于空间矢量力矩合成法的检测转台驱动方法。通过对无刷直流电机三相绕组通电时产生的力矩合成分析，研究了基于空间矢量力矩合成法的无刷直流电机驱动方法，实现了恒力矩稳速转动，有效降低了速度波动对光电编码器误差检测的影响。
提出了基于贝叶斯理论优化最小二乘法的误差评估算法，在样本数据较少的情况下，实现了对小型绝对式光电编码器动态误差的评估；提出了基于小波变换及谱估计的动态误差分量评估算法，将光电编码器动态误差进行分解，实现了对各误差分量的评估。
运用本文研究的方法设计了小型绝对式光电编码器动态误差检测系统，并对小型绝对式光电编码器进行了动态误差检测实验。所设计的动态误差检测系统精度为1.26″，转动范围为0~90r/min，能够实现对16位以下的小型绝对式光电编码器进行动态误差检测。实验表明：所设计的动态误差检测系统具有检测精度高、操作简单、环境适应性强等优点；所提出的动态误差评估方法准确可靠。研究结果可用于对小型绝对式光电编码器的动态误差检测，为改善光电编码器动态误差提供依据，对研制小型绝对式光电编码器具有重要的意义。
During the development of science, the progress of technology and the rapiddevelopment of aerospace technology, every research department requires higherprecision of encoder. Not only does they require the real time angle informationoutput but also the accuracy in angular velocity or acceleration state during theincreasing of sensibility to angular velocity and angular acceleration in photoelectricmeasuring and tracking equipment. Recently, it can only detect static state errorsinteriorly; there are not effective methods to detect dynamic errors. Therefore, theresearches of dynamic detection system and methods on the errors of photoelectricencoder are urgently needful.
Thoroughly, this paper analyses the dynamic errors detection methods of smallsize photoelectric encoder on the base of substantive references at home and abroad;the merit and demerit of these detection methods are contrasted. The influences offactors on the errors of photoelectric encoder are analyzed by the study on dynamicerror theory; these works laid foundation for the dynamic errors detection of smallsize absolute photoelectric encoder.
The dynamic errors detection system is established and its software and hardwareare designed; the data processing method is proposed. The experiments prove that thedynamic error detection system is reliable.
The method of high precision, high resolution and real-time angle reference isproposed and the circuit of high speed subdivision is designed; the high speed errorcompensation is achieved by using the theory of RBF neural network; the resolutionratio, the precision and response of angle reference encoder are improved.
The drive system of dynamic detection equipment using space-vector torquecombination is proposed. In the analysis of the composite torque by three phasewinding, this paper studies space-vector torque combination drive method. The motorcan rotate in stable speed with constant torque and the stable drive system effectivelyreduces the effect of speed fluctuation on the detection error.
The error assessment method is proposed based on least square method optimizedby Bayesian theory. It can assess the errors of small size absolute photoelectricencoder when there are less sample data; the component assessment methods ofdynamic error are proposed based on wavelet transform and power spectrumestimation, they can decompose the dynamic errors into error components and assessthe error components.
The detection system of small size photoelectric encoder is designed by usingthese methods. The error detection experiments of small size photoelectric encoderare completed by using the detection system. The detection precision of this system isbetter than1.26", the range of its speed is0~90r/min, and it can achieve dynamic errordetection of small size absolute photoelectric encoder below16bit. The experimentsshow that the detection equipment is high precision, convenient and no strictrequirements on the environment, the error assessment method is dependable. Theresults of research can be applied to the dynamic detection of photoelectric encoder,meanwhile provide evidence for the manufacture of small size photoelectric encoder.
引文
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