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A high-precision self-gain compensation control method and its control circuit

A compensation control and compensation controller technology, applied in the field of high-precision self-gain compensation control methods and control circuits thereof, can solve the problems of decreased detection performance, poor anti-complex interference of magnetic sensors, etc., so as to improve detection performance, improve control accuracy and Anti-interference ability, the effect of solving the poor anti-complex interference

Active Publication Date: 2021-09-21
北京麦格纳材科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The technical problem to be solved by the present invention is to provide a high-precision self-gain compensation control method and its control circuit. Applying a high-precision self-gain compensation module to the magnetic sensor sinusoidal signal output circuit can improve the detection performance of the magnetic sensor, thereby significantly Improve the control accuracy and anti-interference ability of the robot joints, and solve the problems of poor anti-complex interference and poor detection performance of the current magnetic sensor

Method used

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  • A high-precision self-gain compensation control method and its control circuit
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  • A high-precision self-gain compensation control method and its control circuit

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Embodiment 1

[0037] like figure 1 As shown, the present invention provides a high-precision self-gain compensation control method, comprising the following steps:

[0038] S101, modeling the output side according to the Wheatstone double bridge, and establishing the output side voltage equation of the Wheatstone bridge;

[0039] S102, through the voltage equation on the output side of the Wheatstone bridge, obtain the actual value R of the sinusoidal voltage output signal and the Lissajous circle voltage output by the Wheatstone bridge, and obtain the ideal voltage R of the Lissajous circle voltage output by the Wheatstone bridge value E0 compare;

[0040] S103, designing a self-gain compensation controller that meets the system's open-loop and closed-loop performance requirements;

[0041] S104, the deviation value obtained by comparing E0 with R is input into the self-gain compensation controller, the control output voltage signal is obtained by performing proportional and integral ope...

Embodiment 2

[0060] like figure 2 As shown, the present invention also provides a high-precision self-gain compensation control circuit, including: Wheatstone double bridge circuit, square sum circuit, square root circuit, deviation value detection operation circuit and self-gain compensation controller, deviation value detection operation The circuit, the self-gain compensation controller, and the Wheatstone double bridge circuit are connected in sequence, the sine wave voltage output signal output terminal of the Wheatstone double bridge circuit is connected to the square sum circuit and the square root circuit, and the square root circuit output terminal is connected to the deviation value detection operation circuit the actual signal at the R input.

[0061] like image 3 As shown, it is a square sum circuit circuit, which is used to calculate the sine wave voltage output signal u sin and u cos sum of squares; including the second operational amplifier, the first multiplier, the se...

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Abstract

The invention provides a high-precision self-gain compensation control method and its control circuit. The method includes: modeling the output side according to the Wheatstone double bridge, and establishing a voltage equation on the output side of the Wheatstone bridge; outputting through the Wheatstone bridge The side voltage equation is used to obtain the actual value R of the sinusoidal voltage output signal and the Lissajous circle voltage output by the Wheatstone bridge, and compare it with the ideal voltage value E0 of the Lissajous circle voltage output by the Wheatstone bridge; the design meets the requirements of the system development A self-gain compensation controller for loop and closed-loop performance requirements; the deviation value obtained by comparing E0 and R is input into the self-gain compensation controller, and the control output voltage signal is obtained by performing proportional and integral operations on the deviation value. The present invention applies the high-precision self-gain compensation module to the sine wave signal output loop of the magnetic sensor. Due to the strong robustness of the high-precision self-gain compensation controller, the detection accuracy of the magnetic sensor can be effectively improved, and the detection under the interference condition of the magnetic sensor can be improved. performance.

Description

technical field [0001] The invention relates to the technical field of automatic control, specifically a high-precision self-gain compensation control method and a control circuit thereof. Background technique [0002] The magnetic encoder is a new type of detection device based on magnetic sensitive elements. Compared with the photoelectric encoder, it has many advantages, such as high speed, high reliability, high anti-vibration level, strong anti-interference ability; adaptability to harsh environments Strong, dust-proof and oil-proof; the overall structure is simple, easy and reliable to install; easy to debug, easy to miniaturize and low in price. Therefore, magnetic encoders have great market potential and will replace photoelectric encoders in many fields in the future. At the same time, the realization of high-speed and high-precision control of robot joints is inseparable from various encoders, and the development of encoders directly affects the performance of the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B11/42
CPCG05B11/42
Inventor 于泠然潘月斗王磊陈涛冯春于广华
Owner 北京麦格纳材科技有限公司