Encoder calibration system and control method thereof

Abstract

The embodiment of the present invention provides an encoder calibration system and a control method thereof, which relates to the field of encoder calibration. It is intended to improve the problem that the accuracy of the existing encoder calibration system needs to be improved. The encoder calibration system includes: the motor has an output shaft, the encoder to be calibrated and the standard encoder are both connected to the output shaft, the encoder to be calibrated is used to output a first speed signal, the standard encoder is used to output a second speed signal, and the controller is used to perform a first accuracy compensation on the calibration encoder according to the first speed signal and the second speed signal. The control method of the encoder calibration system is executed by a controller. The speed can more directly reflect the operating state of the motor. The encoder to be calibrated and the standard encoder both output speed signals. The accuracy compensation is performed through the speed, and the compensation accuracy is higher. At the same time, the encoder to be calibrated and the standard encoder are connected through a shaft, and the operating variables of the motor are the same, which improves the calibration accuracy of the encoder to be calibrated.

Description

Technical Field

[0001] The present invention relates to the field of encoder calibration, and in particular to an encoder calibration system and a control method thereof. Background Art

[0002] Servo motors have undoubtedly become the core actuators of automation equipment. As the price of servo systems decreases year by year, many servo motor manufacturers are under great pressure to control costs. Especially for low-inertia and low-power servo motors, which are in great demand, if battery-powered optical absolute encoders are used, the encoder cost can even reach 1 / 2 of the motor cost.

[0003] In order to solve the cost pressure, more and more servo manufacturers have begun to try to use the magnetic principle to create their own magnetic encoders (hereinafter referred to as magnetic encoders). Magnetic encoders have strong resistance to shock and vibration, corrosion and oil pollution. In addition, due to the simple structure, the tolerance for concentricity and axial movement is higher than that of optical principles. Therefore, with the development of Hall and magnetoresistive sensors, the manufacturing threshold of magnetic encoders has been significantly reduced.

[0004] The existing magnetic motor calibration system equipment and tooling are of many types and complex structures, resulting in poor accuracy, which needs to be improved. Summary of the invention

[0005] The purpose of the present invention includes, for example, providing an encoder calibration system that can improve the problem that the accuracy of the existing encoder calibration system needs to be improved.

[0006] The purpose of the present invention also includes providing a control method for an encoder calibration system, which can improve the problem that the accuracy of existing encoder calibration methods needs to be improved.

[0007] The embodiments of the present invention can be implemented as follows:

[0008] An embodiment of the present invention provides an encoder calibration system, comprising: a motor, an encoder to be calibrated, a standard encoder, and a controller; the motor, the encoder to be calibrated, and the standard encoder all communicate with the controller;

[0009] The motor has an output shaft, one end of the output shaft is connected to the encoder to be calibrated, and the other end of the output shaft is connected to the standard encoder. The encoder to be calibrated is used to output a first speed signal representing the motor speed to the controller, and the standard encoder is used to output a second speed signal representing the motor speed to the controller. The controller is used to perform a first accuracy compensation on the calibration encoder according to the first speed signal and the second speed signal.

[0010] In addition, the encoder calibration system provided by the embodiment of the present invention may also have the following additional technical features:

[0011] Optionally: the encoder calibration system also includes a heating device, which is used to heat the motor; the encoder to be calibrated is used to detect the speed of the motor in the heating state to obtain a third speed signal; the standard encoder is used to detect the speed of the motor in the heating state to obtain a fourth speed signal; the controller is used to perform a second accuracy compensation on the calibration encoder according to the third speed signal and the fourth speed signal.

[0012] Optionally, the encoder to be calibrated and the standard encoder are arranged at two opposite ends of the motor, one end of the motor where the encoder to be calibrated is arranged forms a feedback end, and the heating device is used to heat the feedback end.

[0013] Optionally: the heating device is a searchlight.

[0014] Optionally: the encoder calibration system further includes a servo drive, the servo drive communicates with the controller, and the motor communicates with the servo drive.

[0015] Optionally: the encoder to be calibrated and the standard encoder both communicate with the servo driver; the controller is used to output an accuracy compensation signal obtained according to the first speed signal and the second speed signal to the servo driver, and the servo driver is used to perform accuracy compensation on the calibration encoder according to the accuracy compensation signal.

[0016] An embodiment of the present invention also provides a control method for an encoder calibration system, comprising: receiving a first speed signal representing the motor speed output from an encoder to be calibrated; receiving a second speed signal representing the motor speed output from a standard encoder; performing a first accuracy compensation on the encoder to be calibrated according to the first speed signal and the second speed signal; wherein the encoder to be calibrated and the standard encoder are simultaneously connected to the output shaft of the same motor.

[0017] Optionally, the receiving of the first speed signal representing the motor speed output from the encoder to be calibrated includes receiving a fifth speed signal representing the motor speed under a first preset speed state output from the encoder to be calibrated, and receiving a sixth speed signal representing the motor speed under a second preset speed state output from the encoder to be calibrated;

[0018] The receiving of the second speed signal representing the speed of the motor outputted from the standard encoder comprises receiving a seventh speed signal representing the speed of the motor under the first preset speed state outputted from the standard encoder, and receiving an eighth speed signal representing the speed of the motor under the second preset speed state outputted from the standard encoder;

[0019] The step of performing a first accuracy compensation on the encoder to be calibrated according to the first speed signal and the second speed signal comprises:

[0020] The first accuracy compensation is performed on the encoder to be calibrated according to the fifth speed signal, the sixth speed signal, the seventh speed signal, and the eighth speed signal.

[0021] Optionally, after the step of performing a first accuracy compensation on the encoder to be calibrated according to the first speed signal and the second speed signal, the method further comprises:

[0022] receiving a third speed signal outputted from the encoder to be calibrated and representing the speed of the motor in a heating state;

[0023] receiving a fourth speed signal outputted from the standard encoder and representing the speed of the motor in a heating state;

[0024] A second accuracy compensation is performed on the encoder to be calibrated according to the third rotation speed signal and the fourth rotation speed signal.

[0025] Optionally, after the step of performing a first accuracy compensation on the encoder to be calibrated according to the first speed signal and the second speed signal, and before the step of receiving a third speed signal output from the encoder to be calibrated and indicating the speed of the motor in a heating state, the method further includes:

[0026] receiving a ninth speed signal representing the speed of the motor in a third preset speed state and outputted from the encoder to be calibrated after completing the first accuracy compensation, and receiving a tenth speed signal representing the speed of the motor in the third preset speed state and outputted from the standard encoder after completing the first accuracy compensation;

[0027] The step of performing a second accuracy compensation on the calibration encoder according to the third speed signal and the fourth speed signal comprises:

[0028] The second accuracy compensation is performed on the encoder to be calibrated according to the ninth speed signal, the tenth speed signal, the third speed signal, and the fourth speed signal.

[0029] The encoder calibration system and control method thereof according to the embodiments of the present invention have the following beneficial effects, for example:

[0030] The encoder calibration system, the speed can more directly reflect the running state of the motor. The encoder to be calibrated and the standard encoder both output speed signals, and the accuracy compensation is performed through the speed, which simplifies the compensation process and has higher compensation accuracy. At the same time, the encoder to be calibrated and the standard encoder are connected through a shaft, and the running variables of the motor are the same, which improves the calibration accuracy of the encoder to be calibrated.

[0031] The control method of the encoder calibration system receives the rotation speed signals output by the encoder to be calibrated and the standard encoder, then performs accuracy compensation on the encoder to be calibrated, and uses the rotation speed as a parameter of the accuracy compensation, which can improve the compensation accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0033] Figure 1 A schematic diagram of an encoder calibration system provided by an embodiment of the present invention;

[0034] Figure 2 A schematic diagram of the structures of a motor, an encoder to be calibrated, and a standard encoder provided in an embodiment of the present invention.

[0035] Icons: 10- encoder calibration system; 100- motor; 110- housing; 120- output shaft; 200- encoder to be calibrated; 300- standard encoder; 400- controller; 500- power supply; 600- searchlight; 700- servo drive; 710- Ethernet interface; 720- power interface; 730- power supply interface; 740- first signal interface; 750- second signal interface; 800- calibration bracket. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0037] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0039] In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear to indicate an orientation or position relationship, they are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship in which the product of the invention is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0040] In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.

[0041] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention may be combined with each other.

[0042] Combine the following Figure 1 to Figure 2 The encoder calibration system 10 provided in this embodiment is described in detail.

[0043] Please refer to Figure 1 , combined with Figure 2 The present embodiment provides an encoder calibration system 10, comprising: a motor 100, an encoder 200 to be calibrated, a standard encoder 300 and a controller 400; the motor 100, the encoder 200 to be calibrated and the standard encoder 300 all communicate with the controller 400; the motor 100 has an output shaft 120, one end of the output shaft 120 is connected to the encoder 200 to be calibrated, and the other end of the output shaft 120 is connected to the standard encoder 300, the encoder 200 to be calibrated is used to output a first speed signal representing the speed of the motor 100 to the controller 400, the standard encoder 300 is used to output a second speed signal representing the speed of the motor 100 to the controller 400, and the controller 400 is used to perform a first accuracy compensation on the calibration encoder according to the first speed signal and the second speed signal.

[0044] It should be noted that "communication" includes wireless connection and wired connection. In this embodiment, both wireless connection and wired connection are possible.

[0045] The controller 400 controls the rotation of the motor 100. The encoder 200 to be calibrated and the standard encoder 300 simultaneously detect the rotation speed of the motor 100, and obtain a first rotation speed signal and a second rotation speed signal respectively. The first rotation speed signal and the second rotation speed signal are sent to the controller 400. After receiving the first rotation speed signal and the second rotation speed signal, the controller 400 obtains the compared calibration parameters according to the calibration program segment, and then adjusts the encoder 200 to be calibrated to achieve the first accuracy compensation of the encoder 200 to be calibrated.

[0046] After the motor 100 rotates, the encoder to be calibrated 200 and the standard encoder 300 directly detect the speed signal of the motor 100. The speed can more directly reflect the operating state of the motor 100. The controller 400 can also perform compensation more directly after receiving the speed signal, simplifying the compensation process, thereby improving the compensation accuracy.

[0047] The encoder to be calibrated 200 and the standard encoder 300 are both connected to the output shaft 120. When the motor 100 rotates, the operation and variables of the motor 100 are the same, so the compensation value obtained can more directly reflect the compensation value of the encoder to be calibrated 200, thereby improving the compensation accuracy.

[0048] It should be noted that: the first speed signal includes the speed signal obtained by testing the encoder 200 to be calibrated when the motor 100 rotates at a preset speed state, and also includes the speed signal obtained by testing the encoder 200 to be calibrated when the motor 100 rotates at different preset speed states. Specifically, several groups of data are selected for detection according to needs. For example, the first speed signal includes the fifth speed signal of the motor 100 at the first preset speed state and the sixth speed signal of the motor 100 at the second preset speed state.

[0049] Similarly, the second speed signal includes the speed signal obtained by the standard encoder 300 when the motor 100 rotates at a preset speed state, and also includes the speed signal obtained by the standard encoder 300 when the motor 100 rotates at different preset speed states. The encoder 200 to be calibrated detects several sets of data, and the standard encoder 300 detects several sets of data accordingly, and then the controller 400 performs precision compensation on the encoder 200 to be calibrated according to the several sets of data. For example, the second speed signal includes the seventh speed signal obtained by the standard encoder 300 when the motor 100 rotates at the first preset speed state, and the eighth speed signal obtained by the standard encoder 300 when the motor 100 rotates at the second preset speed state, and the controller 400 calibrates the encoder 200 to be calibrated according to the fifth speed signal, the sixth speed signal, the seventh speed signal, and the eighth speed signal.

[0050] Continue to refer to Figure 1In this embodiment, the encoder calibration system 10 further includes a servo driver 700, which communicates with the controller 400, and the motor 100 communicates with the servo driver 700. The controller 400 sends a rotation instruction to the servo driver 700, and the servo driver 700 controls the motor 100 to rotate at a preset speed.

[0051] Continue to refer to Figure 1 In this embodiment, the encoder to be calibrated 200 and the standard encoder 300 both communicate with the servo driver 700; the controller 400 is used to output the accuracy compensation signal obtained according to the first speed signal and the second speed signal to the servo driver 700, and the servo driver 700 is used to perform accuracy compensation on the calibration encoder according to the accuracy compensation signal. After the controller 400 obtains the accuracy compensation parameter according to the first speed signal and the second speed signal, it writes it into the encoder to be calibrated 200 through the servo driver 700.

[0052] Continue to refer to Figure 1 In this embodiment, the encoder calibration system 10 further includes a power supply 500, which is electrically connected to the servo driver 700. Specifically, the servo driver 700 is provided with a power supply interface 720 and a power supply interface 730, the power supply 500 is electrically connected to the power supply interface 720, and the power supply interface 730 is electrically connected to the motor 100 to supply power to the motor 100.

[0053] Specifically, continue to refer to Figure 1 The servo driver 700 is provided with an Ethernet interface 710, and the controller 400 is electrically connected to the Ethernet interface 710, and signals are exchanged in a wired manner. The servo driver 700 is also provided with a first signal interface 740 and a second signal interface 750. The first signal interface 740 is electrically connected to the encoder to be calibrated 200, and the encoder to be calibrated 200 and the servo driver 700 realize information exchange through the first signal interface 740; the second signal interface 750 is electrically connected to the standard encoder 300, and the standard encoder 300 and the servo driver 700 realize information exchange through the second signal interface 750.

[0054] Reference Figure 2 In this embodiment, the motor 100 includes a housing 110, an output shaft 120 is installed on the housing 110, and the encoder 200 to be calibrated is installed in the housing 110, wherein one end of the output shaft 120 is located inside the housing 110 and connected to the encoder 200 to be calibrated, and the other end of the output shaft 120 is located outside the housing 110 and connected to the standard encoder 300.

[0055] The encoder 200 to be calibrated is arranged in the housing 110 and is integrated with the motor 100 to form a magnetically coded motor 100. After the encoder 200 to be calibrated is calibrated, it can be put into use. When calibrating, the standard encoder 300 is connected to one end of the output shaft 120 extending out of the housing 110 to achieve coaxial connection with the encoder 200 to be calibrated.

[0056] Continue to refer to Figure 1 , combined with Figure 2 In this embodiment, the encoder calibration system 10 further includes a calibration bracket 800, the motor 100 is disposed on the calibration bracket 800, and the output shaft 120 is disposed in a vertical direction, which helps to reduce the overall volume.

[0057] Continue to refer to Figure 1 The encoder 200 to be calibrated is located above the calibration bracket 800, and the standard encoder 300 is located below the calibration bracket 800. The standard encoder 300 is located below the encoder 200 to be calibrated, which is convenient for installing and replacing the standard encoder 300.

[0058] Refer again Figure 1 In this embodiment, the encoder calibration system 10 also includes a heating device, which is used to heat the motor 100. The encoder 200 to be calibrated is used to detect the rotational speed of the motor 100 in the heated state to obtain a third rotational speed signal. The standard encoder 300 is used to detect the rotational speed of the motor 100 in the heated state to obtain a fourth rotational speed signal. The controller 400 is used to perform a second accuracy compensation on the calibration encoder according to the third rotational speed signal and the fourth rotational speed signal.

[0059] The main influencing factors of the magnetic encoder motor 100 are speed and temperature. After the first accuracy compensation is completed, the temperature environment factor is added and the encoder 200 to be calibrated is calibrated again.

[0060] Specifically, after completing the first calibration, the control motor 100 rotates at a third preset speed state, the encoder 200 to be calibrated obtains a ninth speed signal, the standard encoder 300 obtains a tenth speed signal, and the controller 400 performs a second precision compensation on the encoder 200 to be calibrated according to the ninth speed signal, the tenth speed signal, the third speed signal and the fourth speed signal.

[0061] Continue to refer to Figure 1 In this embodiment, the encoder to be calibrated 200 and the standard encoder 300 are arranged at opposite ends of the motor 100, one end of the motor 100 where the encoder to be calibrated 200 is arranged forms a feedback end, and the heating device is used to heat the feedback end. Specifically, the heating device is a searchlight 600.

[0062] Continue to refer to Figure 1Before performing precision compensation, zero adjustment is required. The specific method of zero adjustment is to rotate the motor 100 to adjust the standard encoder 300 to the zero position. At this time, the corresponding position of the encoder 200 to be calibrated is also the zero position. The servo driver 700 writes the zero point parameters to the encoder 200 to be calibrated and the standard encoder 300 to achieve zero adjustment. After zero adjustment, precision compensation is performed.

[0063] The principle of the encoder calibration system 10 provided in this embodiment includes: after the servo driver 700 is connected to the power supply 500, the controller 400 sends an instruction to control the servo driver 700 to allow the motor 100 to start running at a first preset speed, and start running at a second preset speed after the operation is completed. After the second preset speed is completed, the controller 400 sorts out the data received by the encoder, and based on the parameters of the standard encoder 300, the difference between the encoder 200 to be calibrated and the standard encoder 300 is compensated to the encoder 200 to be calibrated. At the same time, the difference in the influence of temperature on the encoder is also compensated. Run the calibration again to confirm that the error is correct. In this way, the zero calibration of the encoder 200 to be calibrated is completed. In this embodiment, the encoder 200 to be calibrated refers to a magnetic encoder.

[0064] The encoder calibration system 10 provided in this embodiment has at least the following advantages:

[0065] The encoder to be calibrated 200 and the standard encoder 300 both output rotation speed signals, and the accuracy compensation is performed through the rotation speed, which simplifies the compensation process and improves the compensation accuracy.

[0066] The encoder to be calibrated 200 is connected to the standard encoder 300 via a shaft, and the operating variables of the motor 100 are the same, thereby improving the calibration accuracy of the encoder to be calibrated 200 .

[0067] The encoder calibration system 10 has a simple structure and can realize zero adjustment and calibration.

[0068] The motor 100 is arranged on the calibration bracket 800 , the encoder 200 to be calibrated is arranged in the housing 110 , and the standard encoder 300 is assembled simply and quickly.

[0069] An embodiment of the present invention also provides a control method for an encoder calibration system 10, comprising: receiving a first speed signal representing the speed of the motor 100 outputted from the encoder to be calibrated 200; receiving a second speed signal representing the speed of the motor 100 outputted from the standard encoder 300; performing a first accuracy compensation on the encoder to be calibrated 200 according to the first speed signal and the second speed signal; wherein the encoder to be calibrated 200 and the standard encoder 300 are simultaneously connected to the output shaft 120 of the same motor 100 in a transmission manner.

[0070] Further, receiving a first speed signal representing the rotational speed of the motor 100 outputted from the encoder 200 to be calibrated includes receiving a fifth speed signal representing the rotational speed of the motor 100 under a first preset speed state outputted from the encoder 200 to be calibrated, and receiving a sixth speed signal representing the rotational speed of the motor 100 under a second preset speed state outputted from the encoder 200 to be calibrated; receiving a second speed signal representing the rotational speed of the motor 100 outputted from the standard encoder 300 includes receiving a seventh speed signal representing the rotational speed of the motor 100 under the first preset speed state outputted from the standard encoder 300, and receiving an eighth speed signal representing the rotational speed of the motor 100 under the second preset speed state outputted from the standard encoder 300; the step of performing a first accuracy compensation on the encoder 200 to be calibrated according to the first speed signal and the second speed signal includes: performing a first accuracy compensation on the encoder 200 to be calibrated according to the fifth speed signal, the sixth speed signal, the seventh speed signal and the eighth speed signal.

[0071] The speed signal is collected several times according to actual needs. The more groups are collected, the more accurate the accuracy compensation will be.

[0072] After adding the temperature parameter, in this embodiment, after the step of performing the first accuracy compensation on the encoder 200 to be calibrated according to the first speed signal and the second speed signal, it includes: receiving a third speed signal output from the encoder 200 to be calibrated, which represents the speed of the motor 100 in the heating state; receiving a fourth speed signal output from the standard encoder 300, which represents the speed of the motor 100 in the heating state; and performing a second accuracy compensation on the encoder 200 to be calibrated according to the third speed signal and the fourth speed signal.

[0073] Further, after the step of performing the first precision compensation on the encoder 200 to be calibrated according to the first speed signal and the second speed signal, and before the step of receiving the third speed signal output from the encoder 200 to be calibrated and representing the speed of the motor 100 in the heating state, it also includes: receiving the ninth speed signal output from the encoder 200 to be calibrated after completing the first precision compensation and representing the speed of the motor 100 in the third preset speed state, and receiving the tenth speed signal output from the standard encoder 300 after completing the first precision compensation and representing the speed of the motor 100 in the third preset speed state; the step of performing the second precision compensation on the calibration encoder according to the third speed signal and the fourth speed signal includes: performing the second precision compensation on the encoder 200 to be calibrated according to the ninth speed signal, the tenth speed signal, the third speed signal and the fourth speed signal.

[0074] The first accuracy compensation is superimposed on the speed after adding the temperature parameter to achieve the second accuracy compensation, with higher calibration accuracy.

[0075] In this embodiment, the encoder calibration method includes the following steps:

[0076] Step 1: After the servo driver 700 is connected to the power supply 500, the controller 400 controls the driver to write parameters and perform zeroing to the calibration encoder and the encoder to be calibrated 200.

[0077] Step 2: The controller 400 instructs the servo driver 700 to control the motor 100 to start running at 2 / 3 of the rated speed. While the motor 100 is running, the encoder 200 to be calibrated and the standard encoder 300 will respectively obtain the speed of the motor 100. When the speed is stable, two speeds V1 and V2 are obtained.

[0078] Step 3: Similar to step 2, the motor 100 is operated again at the rated speed. After the operation is completed, the controller 400 receives two rotation speeds V3 and V4 detected by the encoder 200 to be calibrated and the standard encoder 300. The four rotation speed values ​​are transmitted to the controller 400, and the controller 400 finds the regularity through the rotation speed formula to obtain a new first parameter of the motor 100;

[0079] Step 4: Write the newly obtained first parameter into the encoder to be calibrated 200 and the standard encoder 300. Run the motor 100 at the rated speed again, and measure the speeds of the encoder to be calibrated 200 and the standard encoder 300 to be V5 and V6;

[0080] Step 5: Turn on the infrared searchlight 600 to heat the feedback end of the motor 100 under test. After 5 seconds of irradiation, the motor 100 is operated at the rated speed, and the speeds of the encoder 200 to be calibrated and the standard encoder 300 are V7 and V8. The four speed values ​​are automatically input into the controller 400, and the controller 400 finds the rule through the temperature formula to obtain the new second parameter of the motor 100;

[0081] Step 6: Write the second parameter of the motor 100 into the encoder to be calibrated 200 and the standard encoder 300 through the servo driver 700, run and calibrate at the rated speed, and finally confirm that the speed error is within 1%, which means that the encoder to be calibrated 200 is zeroed and calibrated.

[0082] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. An encoder calibration system, characterized in that: include: A motor (100), an encoder to be calibrated (200), a standard encoder (300), and a controller (400); The motor (100), the encoder to be calibrated (200), and the standard encoder (300) are all in communication with the controller (400); The motor (100) comprises an output shaft (120), one end of the output shaft (120) is connected to the encoder (200) to be calibrated, and the other end of the output shaft (120) is connected to the standard encoder (300), the encoder (200) to be calibrated is used to output a first speed signal representing the speed of the motor (100) to the controller (400), the standard encoder (300) is used to output a second speed signal representing the speed of the motor (100) to the controller (400), and the controller (400) is used to perform a first accuracy compensation on the calibration encoder according to the first speed signal and the second speed signal; The encoder calibration system further comprises a heating device, the heating device being used to heat the motor (100); the encoder to be calibrated (200) being used to detect the rotation speed of the motor (100) in a heated state to obtain a third rotation speed signal; the standard encoder (300) being used to detect the rotation speed of the motor (100) in a heated state to obtain a fourth rotation speed signal; and the controller (400) being used to perform a second precision compensation on the calibration encoder according to the third rotation speed signal and the fourth rotation speed signal; The encoder calibration system further comprises a servo driver (700), wherein the servo driver (700) communicates with the controller (400), and the motor (100) communicates with the servo driver (700); The encoder to be calibrated (200) and the standard encoder (300) both communicate with the servo driver (700); the controller (400) is used to output a precision compensation signal obtained according to the first speed signal and the second speed signal to the servo driver (700); the servo driver (700) is used to perform precision compensation on the calibration encoder according to the precision compensation signal.

2. The encoder calibration system according to claim 1, characterized in that: The encoder to be calibrated (200) and the standard encoder (300) are arranged at two opposite ends of the motor (100), one end of the motor (100) on which the encoder to be calibrated (200) is arranged forms a feedback end, and the heating device is used to heat the feedback end.

3. The encoder calibration system according to claim 2, characterized in that: The heating device is a searchlight (600).

4. A control method for an encoder calibration system, characterized in that: include: Receiving a first speed signal representing the speed of the motor (100) output from an encoder (200) to be calibrated; Receiving a second speed signal representing the speed of the motor (100) output from a standard encoder (300); Performing a first accuracy compensation on the encoder to be calibrated (200) according to the first rotation speed signal and the second rotation speed signal; The encoder to be calibrated (200) and the standard encoder (300) are simultaneously connected in transmission to an output shaft (120) of the same motor (100); After the step of performing a first accuracy compensation on the encoder to be calibrated (200) according to the first speed signal and the second speed signal, the method comprises: receiving a third rotation speed signal outputted from the encoder (200) to be calibrated and representing the rotation speed of the motor (100) in a heating state; receiving a fourth speed signal outputted from the standard encoder (300) and representing the speed of the motor (100) in a heating state; performing a second accuracy compensation on the encoder to be calibrated (200) according to the third rotation speed signal and the fourth rotation speed signal; After the step of performing a first accuracy compensation on the encoder to be calibrated (200) according to the first speed signal and the second speed signal, and before the step of receiving a third speed signal output from the encoder to be calibrated (200) and representing the speed of the motor (100) in a heating state, the method further comprises: Receiving a ninth speed signal representing the speed of the motor (100) in a third preset speed state and outputted from the encoder to be calibrated (200) after completing the first accuracy compensation, and receiving a tenth speed signal representing the speed of the motor (100) in the third preset speed state and outputted from the standard encoder (300) after completing the first accuracy compensation; The step of performing a second accuracy compensation on the calibration encoder according to the third speed signal and the fourth speed signal comprises: The second precision compensation is performed on the encoder (200) to be calibrated according to the ninth speed signal, the tenth speed signal, the third speed signal and the fourth speed signal.

5. The control method of the encoder calibration system according to claim 4, characterized in that: The receiving of the first speed signal representing the speed of the motor (100) outputted from the encoder to be calibrated (200) comprises receiving a fifth speed signal representing the speed of the motor (100) in a first preset speed state outputted from the encoder to be calibrated (200), and receiving a sixth speed signal representing the speed of the motor (100) in a second preset speed state outputted from the encoder to be calibrated (200); The receiving of the second speed signal representing the speed of the motor (100) outputted from the standard encoder (300) comprises receiving a seventh speed signal representing the speed of the motor (100) in the first preset speed state outputted from the standard encoder (300), and receiving an eighth speed signal representing the speed of the motor (100) in the second preset speed state outputted from the standard encoder (300); The step of performing a first accuracy compensation on the encoder to be calibrated (200) according to the first rotation speed signal and the second rotation speed signal comprises: The first accuracy compensation is performed on the encoder (200) to be calibrated according to the fifth rotation speed signal, the sixth rotation speed signal, the seventh rotation speed signal and the eighth rotation speed signal.

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