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Asynchronous sampling-based adaptive dynamic error compensation method and device

A dynamic error, asynchronous sampling technology, applied in the direction of using electrical devices, measuring devices, instruments, etc., can solve problems such as large errors, achieve stable performance, improve angle measurement accuracy, and reduce angle dynamic measurement errors.

Active Publication Date: 2012-09-12
江西省智成测控技术研究所有限责任公司
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Problems solved by technology

[0003] Due to the existence of sampling deviation, the angle measurement system based on asynchronous sampling will produce a relatively large error when it is applied in a dynamic situation. The error is proportional to the sampling period T of the digital angle sensor. In addition, T changes due to changes in the environment, that is, the measurement error It will also change with the change of ambient temperature, and it is difficult to solve the above problems by performing nonlinear calibration and temperature calibration on the conversion value of the digital angle sensor

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  • Asynchronous sampling-based adaptive dynamic error compensation method and device
  • Asynchronous sampling-based adaptive dynamic error compensation method and device
  • Asynchronous sampling-based adaptive dynamic error compensation method and device

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Embodiment Construction

[0025] The present invention will be described in further detail below in conjunction with the embodiments and with reference to the accompanying drawings.

[0026] An adaptive dynamic error compensation method based on asynchronous sampling, the specific steps are as follows:

[0027] A. The first timing sampling circuit (AS5045) regularly collects mechanical angles to obtain digital electrical angles. The sampling frequency of AS5045 is 10kHz;

[0028] B, the data collection module in the 2nd timing sampling circuit carries out data collection regularly to the 1st timing sampling circuit under the triggering of sampling trigger signal Tr1 through SSI digital interface, to obtain the digital angle value, the frequency of sampling trigger signal Tr1 is 500Hz, At this moment, the first timing sampling circuit and the second timing sampling circuit constitute an asynchronous sampling relationship;

[0029] C. After the data acquisition module is triggered each time, it starts t...

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Abstract

The invention discloses an asynchronous sampling-based adaptive dynamic error compensation method and an asynchronous sampling-based adaptive dynamic error compensation device. The compensation device comprises a first timing sampling circuit, and is characterized in that a second timing sampling circuit consists of a data acquisition module, a data relation judgment module, a data selector, a first counting state machine, a second counting state machine, a sampling migration normalization time calculation module, a weight calculation module and a multiply and add operation module. According to the compensation method, sampled data is compensated by combining sampling migration normalization time according to the characteristic that sampling deviation linearly accumulates along with time during asynchronous sampling; since the normalization time is automatically counted by the second timing sampling circuit and is not related to a sampling period of the sampled data, and further a compensation result is not related to various factors affecting the sampling period, the dynamic measurement error of an angle caused by sampling deviation can be effectively reduced, the angle measurement accuracy on a dynamic application occasion is improved, and the performance is also more stable.

Description

technical field [0001] The invention relates to an angle measurement method applied in a dynamic situation, in particular to an adaptive dynamic error compensation method and a compensation device based on asynchronous sampling. Background technique [0002] Angle measurement is widely used in the fields of military, industry, and robotics. With the development of technology, angle measurement sensors are constantly being miniaturized and intelligentized. It can provide digital angle signals after timing sampling. In order to achieve the expected accuracy, it is usually necessary to form an angle measurement system with an external circuit. At this time, the external processing circuit and the digital angle sensor form an asynchronous sampling relationship. [0003] Due to the existence of sampling deviation, the angle measurement system based on asynchronous sampling will produce a relatively large error when it is applied in a dynamic situation. The error is proportional t...

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Application Information

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IPC IPC(8): G01B7/30
Inventor 吴小锋贾晓东
Owner 江西省智成测控技术研究所有限责任公司
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