绝对式磁编码器设计及其在伺服系统的应用
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摘要
磁编码器作为一种非接触式位置传感器,已经在伺服控制领域得到越来越多的关注和应用。相比接触式位置传感器,或光电编码器,磁编码器更加可靠,且更容易制作为绝对式位置传感器。本文介绍了绝对式磁编码器工作原理以及反正切法角度解算方法,提出了一种基于角度跟踪的角度解算算法,并基于Macrochip的dsPIC33EV芯片实现了采用两种角度解算算法的绝对式磁编码器,然后对两种磁编码器自身特性及其在伺服系统中的表现进行了对比,通过对两种算法进行充分的对比和试验验证,总结了两种算法的优缺点及适用场景。
As a non-contact position sensor,magnetic encoder has been extensively studied and applied in servo control. Compared with contact position sensors and the photoelectric encoder,the magnetic encoder is more reliable and easier to be used for the manufacturing of absolute position sensors. This paper introduces the fundamentals of the absolute magnetic encoder and the arc tangent angle calculation algorithm,and proposes a novel angle calculation algorithm based on angle tracking. This paper also proposes the design of an absolute magnetic encoder using two angle calculation algorithms based on the dsPIC33 EV of Macrochip,and compares the characteristics of the two algorithms and their performances in servo systems. The advantage,limitations and applicable scenarios of these algorithms are discussed.
As a non-contact position sensor,magnetic encoder has been extensively studied and applied in servo control. Compared with contact position sensors and the photoelectric encoder,the magnetic encoder is more reliable and easier to be used for the manufacturing of absolute position sensors. This paper introduces the fundamentals of the absolute magnetic encoder and the arc tangent angle calculation algorithm,and proposes a novel angle calculation algorithm based on angle tracking. This paper also proposes the design of an absolute magnetic encoder using two angle calculation algorithms based on the dsPIC33 EV of Macrochip,and compares the characteristics of the two algorithms and their performances in servo systems. The advantage,limitations and applicable scenarios of these algorithms are discussed.
引文
[1] 赵亚南.面向位标器框架平台的单磁极式磁编码器研究[D].哈尔滨:哈尔滨工业大学,2011.
[2] Husstedt H,Ausserlechner U,Kaltenbacher M.Measurement of a Multi-Pole Encoder With a Magnetic and Coordinate Measuring Machine[C]//2012 IEEE International.Instrumentation and Measurement Technology Conference(I2MTC),IEEE,2012:2040-2044.
[3] Lü D G,Gao M M,Li W M,et al.Hall Effect Based Tracking Position Sensor[J].Applied Mechanics and Materials,2013,303:120-123.
[4] 郝双晖,刘勇,郝明晖.绝对式多极磁电轴角编码器的设计[J].光学精密工程,2010,18(4):863-871.
[5] 吴小锋.基于磁旋转编码器的角度传感器动态误差补偿方法[J].仪表技术与传感器,2015(11):15-17.
[6] Gao Z,Hu J,Zhu Y,et al.The Analysis of Subdivision Measurement Based on Sinusoidal Magnetic Field Model[J].Measurement,2012,45(5):1159-1164.
[7] 徐春明.高精度磁编码器及其细分算法的研究[D].哈尔滨:哈尔滨工业大学,2013.
[8] 冯立锋.面向高精度伺服系统的磁电式编码器研究[D].哈尔滨:哈尔滨工业大学,2014.
[9] 李磊磊.一种小型位置反馈式电动伺服系统的设计及实现[J].航空兵器,2012(2):22-24.
[10] 刘鹏.基于DSP的空空导弹数字伺服控制系统[J].航空兵器,2013(3):18-20.
[11] 付克亚.一种数字无刷电动舵机控制系统的设计[J].航空兵器,2018(4):84-88.
[12] 乔治·埃利斯.控制系统设计指南[M].第4版.北京:机械工业出版社,2016:40-43
[2] Husstedt H,Ausserlechner U,Kaltenbacher M.Measurement of a Multi-Pole Encoder With a Magnetic and Coordinate Measuring Machine[C]//2012 IEEE International.Instrumentation and Measurement Technology Conference(I2MTC),IEEE,2012:2040-2044.
[3] Lü D G,Gao M M,Li W M,et al.Hall Effect Based Tracking Position Sensor[J].Applied Mechanics and Materials,2013,303:120-123.
[4] 郝双晖,刘勇,郝明晖.绝对式多极磁电轴角编码器的设计[J].光学精密工程,2010,18(4):863-871.
[5] 吴小锋.基于磁旋转编码器的角度传感器动态误差补偿方法[J].仪表技术与传感器,2015(11):15-17.
[6] Gao Z,Hu J,Zhu Y,et al.The Analysis of Subdivision Measurement Based on Sinusoidal Magnetic Field Model[J].Measurement,2012,45(5):1159-1164.
[7] 徐春明.高精度磁编码器及其细分算法的研究[D].哈尔滨:哈尔滨工业大学,2013.
[8] 冯立锋.面向高精度伺服系统的磁电式编码器研究[D].哈尔滨:哈尔滨工业大学,2014.
[9] 李磊磊.一种小型位置反馈式电动伺服系统的设计及实现[J].航空兵器,2012(2):22-24.
[10] 刘鹏.基于DSP的空空导弹数字伺服控制系统[J].航空兵器,2013(3):18-20.
[11] 付克亚.一种数字无刷电动舵机控制系统的设计[J].航空兵器,2018(4):84-88.
[12] 乔治·埃利斯.控制系统设计指南[M].第4版.北京:机械工业出版社,2016:40-43
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