摘要
目前提高磁电编码器的精度需要采用角度标定过程,由于标定支架等间接过程的引入,造成了磁电编码器角度值的间接偏差。针对该问题,采用基于卡尔曼滤波的电机驱动虚拟时栅直接对磁电编码器进行角度值标定,取消了母体高精度磁电编码器的间接标定过程。为实现多对极磁电编码器角度值的细分,采用一种窗口滤波多区间角度值划分方法对当前多对极角度值的极数进行判断,解决了磁电编码器角度值噪声引发的区间判断错误问题,有效提高了磁电编码器的分辨率。最后,通过实验证明了所提出的磁电编码器能够有效抑制角度值跳动,使得电机的速度控制更加平稳,电流正弦特性更好。最终所提出的磁电编码器的分辨率可以达到15位,精度达到0.44°。
At present, the accuracy of the magnetic encoder needs to be improved by using the angle calibration process. The angle accuracy of the magnetic encoder is influenced by the indirect process of calibration bracket, etc. To solve this problem, this study proposes a calibration and subdivision method of multi-pole magnetic encoder based on motor driven virtual time-grating, which can eliminate the indirect calibration process using high-precision magnetic encoder. To achieve the subdivision of the multi-pole angle value, a window filter multi interval angle value division method is utilized to determine the pole number of the current multi-pole angle value. In this way, the problem of interval judgment error caused by angle noise of the magnetic encoder is solved. The resolution of multi pole encoder is also improved. Finally, it is proved that the magnetic encoder can effectively decrease the jumping of the angle value. The high and low speed control of the motor is more stable and the current sinusoidal characteristic is better. Finally, the resolution of the magnetic encoder can reach 15 bits and the accuracy of the magnetic encoder is 0.44°.
作者
张洪鑫
任齐民
王磊
Zhang Hongxin;Ren Qimin;Wang Lei(School of Mechanical Power and Engineering,Harbin University of Science and Technology,Harbin 150080,China)
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2018年第12期18-29,共12页
Chinese Journal of Scientific Instrument
基金
中国博士后基金(2016M600256)
黑龙江省博士后基金(LBH-Z16092)
哈尔滨市科技创新人才研究专项基金(2017RAQXJ076)项目资助.
关键词
虚拟时栅
角度值细分
卡尔曼滤波
磁电编码器
virtual time-grating
subdivision of angle value
Kalman filter
magnetic encoder
作者简介
张洪鑫,1988年于哈尔滨科技大学获得学士学位,2002年于哈尔滨理工大学获得硕士学位,2009年于哈尔滨工业大学获得博士学位,现为哈尔滨理工大学教授,主要研究方向传感器的故障与检测。E-mail:zhxlj2004@163.com;通信作者:王磊,2009年于哈尔滨商业大学获得学士学位,分别在2011年和2015年于哈尔滨工业大学获得硕士学位和博士学位,现为哈尔滨理工大学讲师,主要研究方向为控制理论及其在电机系统的应用、高精度磁电编码器。E-mail:leiwang007@126.com.
