Abstract
This paper proposes a linear compensator algorithm to improve the performance of an absolute multipolar magnetic encoder (AMPME). An AMPME is an absolute magnetic rotary encoder that uses a multipolar magnet (MPM) to increase the resolution. The resolution can be dramatically increased in proportion to the number of poles in the MPM. However, various hardware problems that occur during the encoder manufacturing process degrade the AMPME performance. Also, harmonic components occur in the raw data due to various problems, such as the resistance error of the analog circuit, magnetic field overlap between the magnets, position error between the sensor and magnet, and pole-pitch difference. In particular, during the magnetization process of the MPM, the pole-pitch difference becomes a problem when the sizes of each pole are not uniform. This problem causes harmonic components that reduce the absolute position accuracy. To solve these problems, this paper proposes a linear compensation method. The proposed linear compensator consists of two parts. The first part is the enhanced ratiometric linearization for phase calculation and calibration. The second is the phase compensator for removing the phase difference via the pole-pitch difference of the MPM. The linear compensator improves various parameters by precomputing the offset, amplitude, and phase corrections. After compensating for sinusoidal signals, the linear compensator applies appropriate parameters at the appropriate times. This method is faster, easier to set up, and more accurate than the conventional method. Furthermore, this method is experimentally verified against the existing harmonic rejection method. Experimental results are provided to verify the effectiveness of the proposed method.
Highlights
An absolute encoder provides an absolute rotation position
Absolute optical encoders are suitable for the comparative verification of the absolute multipolar magnetic encoder (AMPME) because the optical disk is higher than the pole-pitch precision of a multipolar magnet (MPM)
We repeated the above steps for each algorithm to compare the two phase-locked loop (PLL) algorithms (CPLL, adaptive digital phase-locked loop (AADPLL)) and the linear compensator
Summary
An absolute encoder provides an absolute rotation position. An absolute encoder does not require a home sensor or limit sensor to identify the reference position. The absolute encoder always remembers the physical position without using a battery. In the case of incremental encoders without a battery, the encoder is not able to locate its own position when the power is turned off and on again. The associate editor coordinating the review of this manuscript and approving it for publication was Huiqing Wen. to reduce overall battery management, making it useful in systems where it is difficult to replace batteries. Robots hanging from the ceiling of an assembly line and underwater robots have batteries that are difficult to replace
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