Abstract
A novel high-precision subdivision system for high-speed encoders is designed in this work. The system is designed with an arc second of Sin-Cos Encoder (SCE) based on zero phase bandpass filter. The system collects the analog output signals of an encoder with a high-speed data acquisition system (DAS); the noise of a digital signal can be effectively eliminated by zero phase bandpass filter with appropriate prior parameters. Finally, the actual rotation angle of the encoder is calculated by the software subdivision technique in the system. The software subdivision technique includes two methods, which are the Analog Pulse Counter (APC) and the Arc Tangent Subdivision (ATS). The APC method calculates the encoder angle by counting the analog pulses acquired by the arc tangent signal. The ATS method calculates the encoder angle by computing the arc tangent results of each point. The accuracy and stability of the system are first verified with a simulated signal; second, the real signals of an SCE are acquired by a high speed DAS on a test bench of a precision reducer, which is employed in industrial robots. The results of the proposed system are compared. The experimental results show that the system can significantly improve the accuracy of the encoder angle calculation, with controllable costs.
Highlights
In precision measurement and control systems with high dynamic and precision performance requirements, the position and rotational speed of the rotator must be accurately measured and perceived
In order to improve the resolution and precision of the encoder and reduce the hardware costs, this paper proposes a high-precision encoder actual rotation angle method
In the case of low real-time demands, the software subdivision system in this paper uses the industrial computer as the upper computer processor of the subdivision operation
Summary
In precision measurement and control systems with high dynamic and precision performance requirements, the position and rotational speed of the rotator must be accurately measured and perceived. In order to improve the resolution and precision of the encoder and reduce the hardware costs, this paper proposes a high-precision encoder actual rotation angle method. Song et al [11] present a method of encoder subdivision based on the software frequency multiplication, which narrows the data range and improves the operation accuracy by the method of proportional scaling of sin-cos signals. Wei et al [13] present a high-resolution signal processing method of the SCE based on an improved coordinate rotational digital calculation algorithm. In the case of low real-time demands, the software subdivision system in this paper uses the industrial computer as the upper computer processor of the subdivision operation These computers can directly perform the advanced operations and subdivision of the sin-cos signal according to the algorithm without checking the table. The accuracy is higher and can support an effective filtering algorithm, such as the zero phase bandpass filtering algorithm, to remove noise
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