Error compensating method of photoelectric encoder

Abstract

The invention discloses an error compensating method of a photoelectric encoder. An error compensating process of the method is simpler, so as to realize the aim of improving the compensation precision. Equipment provided by the method comprises the photoelectric encoder, a rotating table and a controller. The error compensating method comprises the following special steps of: obtaining y by subtracting z by x, wherein each angle measurement value of the controller is regarded as a value x to be compensated, and each corner value of the rotating table is regarded as a conventional true value z; according to the x and the z, establishing a knowledge base model of the photoelectric encoder by using a least square method, and outputting z'; according to the x and the y, establishing a neural fuzzy model by using a structure of an improved self-adaption neural fuzzy reasoning system, and outputting ynet(k); adding outputs of the established knowledge base model and neural fuzzy model, so as to obtain z'+ynet(k); and respectively inputting each measurement value of the photoelectric encoder to the established knowledge base model and neural fuzzy model so as to compensate, and outputting the compensated values by the controller.

Description

technical field [0001] The invention relates to an adaptive neurofuzzy reasoning technology, belongs to the field of directional navigation, and in particular relates to an error compensation method of a photoelectric encoder. Background technique [0002] Photoelectric encoder, also known as photoelectric angular position sensor, is a digital angle sensor integrating light, machinery and electricity. It uses photoelectric conversion technology to convert the angular position information of the mechanical shaft into corresponding digital code output, which can realize Measurement of angles, velocities, and other mechanical quantities. Compared with other sensors of the same purpose, it is not easily affected by external noise, especially the magnetic field. The photoelectric encoder has high resolution, high measurement accuracy, long life, good working reliability, wide measurement range, small size, light weight and It is easy to maintain and other advantages, so it is wi...

AI Technical Summary

Problems solved by technology

Hong Xi, Xu Zhijun, and Yang Ning's paper "Optoelectronic Encoder Error Compensation Method Based on Radial Basis Function Network" proposed a photoelectric encoder error correction technology based on radial basis function network model. This method requires 23 16-bit high-precision encoder is used as a benchmark to detect 16-bit photoelectric encoder, the operation is cumbersome, the amount of data is too small and the compensation effect is general

Zhao Renjie and Ma Wenli's paper "Using the Error Harmonic Compensation Method to Improve the Angle Measurement Accuracy of Metal Circular Gratings" uses the error harmonic method to eliminate the stable repeatable error source. The calibration system used in this method consists of 23-sided prism and Composed of an autocollimator, and 10 coefficients need to be determined, the operation of this method is complicated and time-consuming

Gao Guanbin, Wang Wen, Lin Keng, and Chen Zichen's paper "Error Compensation and Parameter Identification of Circular Grating Angle Sensors" uses photoelectric autocollimators and metal polyhedrons to discretely calibrate the measurement errors of circular grating angle sensors, and proposes a method based on sine Functional circular grating angle sensor error compensation model, using the particle swarm algorithm to solve 7 model parameters, the solution steps of this method are cumbersome and time-consuming

[0004] To sum up, the current main methods of error compensation for photoelectric encoders all have the problems of cumbersome error compensation process and low compensation accuracy.

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