摘要
随着跟瞄武器装备跟踪精度、卫星导航系统定位精度的提高，研制适用于复杂工作条件下的高精度、高分辨力绝对式光电轴角编码器成为军事工业领域亟待解决的难点。光电轴角编码器的测角精度主要受制于莫尔条纹光电信号的细分精度，而细分精度的大小取决于精码莫尔条纹光电信号的质量，因此开展莫尔条纹光电信号自动补偿技术研究对于实现光电轴角编码器的高精度、高分辨力以及保证其在恶劣工作环境下的精确测量具有重要意义。
通过阅读国内外文献，首先从莫尔条纹产生机理出发，讨论了高精度编码器莫尔条纹光电信号的形成、引起莫尔条纹光电信号产生偏差的根本因素、高精度编码器的细分技术以及莫尔条纹光电信号质量偏差引起细分误差的空间分布特征，指出研究莫尔条纹光电信号自动补偿方法的关键性。
提出了基于Hilbert变换的莫尔条纹光电信号正交性偏差自动补偿算法。利用希尔伯特变换原理，构造同频光电信号正交性偏差的动态测量算法；通过莫尔条纹光电信号数学模型，建立角度代码补偿查找表；并设计了同步处理的补偿方式，实现莫尔条纹光电信号正交性偏差的自动补偿。
提出了基于粒子群优化算法的莫尔条纹光电信号正弦性偏差自动补偿算法。采用傅里叶变换理论，研究了高精度光电编码器信号正弦性偏差的主要谐波成分，建立了信号波形的数学方程及信号细分误差的补偿模型；设计了基于粒子群优化算法的信号波形参数辨识方法，实现了信号正弦性偏差的自动补偿。
构建了莫尔条纹光电信号自动补偿系统。提出了基于高分辨力数字电位计的莫尔条纹光电信号直流电平漂移、等幅性偏差的自动补偿方法。研究并融合了莫尔条纹光电信号各个偏差的自动补偿方法，建立了莫尔条纹光电信号细分误差的综合补偿模型，实现对莫尔条纹光电信号的综合自动补偿，提高了光电编码器的细分精度和环境适应能力。
运用本文研究的方法对高精度光电编码器实际莫尔条纹光电信号进行补偿处理，可满足高精度光电编码器分辨力的要求，经实际测试24位高精度编码器细分误差可减少0.61"。实验结果表明：本文提出的莫尔条纹光电信号自动补偿方法，能够提高编码器的细分精度、环境适应性和可靠性，研制的自动补偿系统可作为编码器的备处理系统或误差诊断系统，对于研制超高精度的光电轴角编码器和提高光电编码器的测角稳定性具有实用意义。
In order to improve the precision of tracking weapons and equipment and thepositioning accuracy of satellite navigation system, the research of high-resolutionabsolute photoelectric shaft encoder with high accuracy under complex workingconditions is needed. And this becomes a difficulty in the military industry. The anglemeasurement accuracy of photoelectric shaft encoder is mainly subject to thesubdivision precision of Moire fringe photoelectric signal. And the subdivisionprecision depends on the quality of Moire fringe precise code signal. So the researchof automatic compensation technology is to be of significance to realize the highaccuracy and high resolution of photoelectric shaft encoder.
By reading domestic and foreign literature, the composition of Moire fringephotoelectric signal of high-precision encoder is discussed. Fundamental factorswhich lead to the deviation of Moire fringe photoelectric signal and the spatialdistribution characteristic of subdivision error which is caused by the deviation ofMoire fringe photoelectric signal are also discussed. The key point of automaticcompensation method of Moire fringe photoelectric signal is pointed out.
The method of real-time compensation of orthogonality deviation for the Moirefringe photoelectric signal based on Hilbert transform theory was proposed. Dynamicmeasurement algorithm for the orthogonality deviation of same frequencyphotoelectric signal using Hilbert transform theory was constructed. In the light ofmathematical model for Moire fringe photoelectric signal, lookup table for angle codecompensation was established and the synchronous processing mode was adopted,real-time compensation of orthogonality deviation for the photoelectric signal wasachieved.
The method of automatic compensation of sine deviation for the Moire fringephotoelectric signal based on the particle swarm optimization algorithm was proposed.The main harmonic components of sine deviation for high precision photoelectricencoder signal using Fourier algorithm were revealed, waveform equation wasestablished and compensation model of subdivision error was set up. Theidentification method for signal waveform parameter based on particle swarmoptimization algorithm was designed. Automatic compensation of sinusoidal deviationfor the photoelectric signal was achieved.
The automatic compensation system for Moire fringe photoelectric signal wasestablished. The automatic compensation method of DC level drift and the amplitudeof deviation for Moire fringe photoelectric signal was proposed. Automaticcompensation method of each error for Moire fringe photoelectric signal wasresearched and syncretized. A comprehensive compensation model of the Moire fringephotoelectric signal subdivision error was established. The comprehensive automaticcompensation of the Moire fringes photoelectric signal was realized. It can improvethe subdivision accuracy, environmental adaptability and reliability of the encoder.
Moire fringe photoelectric signal of high precision photoelectric encoder wascompensated and analysed using this method of this paper research, it was sufficientto the technical index of the quality for high precision encoder Moire fringephotoelectric signal. To conduct an experiment, the subdivision error of the Moirefringes photoelectric signal for a24-bit photoelectric encoder was reduced0.61". Theexperimental results showed that the method of automatic compensation of this paperresearch can improve the subdivision accuracy, environmental adaptability andreliability of the encoder. The automatic compensation system can be used as thepreparation processing system or error diagnosis system of the encoder, it is verypractical for development of photoelectric shaft encoder ultra high precision andimprove the angle stability of photoelectric encoder.
引文
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