Photoelectric turntable encoder angle error compensation method based on embedded management and control software

Abstract

The application specifically discloses a photoelectric rotary table encoder angle measurement error compensation method based on embedded management and control software, which comprises the following steps: setting a 24-sided prism on an angle measurement module of a photoelectric rotary table, calibrating the angle measurement error of the angle measurement module, and obtaining a first angle measurement error data set; the first angle measurement error data set is obtained by cooperation calibration of a autocollimator and the 24-sided prism; data fitting is performed based on the first angle measurement error data set, and an initial fitting error is obtained; the data fitting is calculated by a management and control end of the photoelectric rotary table; a target compensation position instruction compensated according to the initial fitting error is obtained by the management and control end, and is output to the photoelectric rotary table. The application uses the management and control software to firstly perform angle measurement error calculation and compensation on the angle position instruction sent by a host computer to the photoelectric rotary table, so that the angle measurement error is compensated in the front end of the photoelectric rotary table, and the real-time performance and other performances of a servo control system of the photoelectric rotary table are not affected.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of encoder angle error compensation, in particular to an optical-electrical turntable encoder angle error compensation method based on embedded management and control software. BACKGROUND

[0002] Traditional optical-electrical turntables usually adopt frame type servo control platform. In high-precision optical-electrical turntable servo control system, high-precision encoders are usually used as feedback elements in position loop to perform position closed-loop control on the system. The main function of the position loop is to make the turntable frame drive the optical load to point to the input angle, so the measurement error of the angle measurement element in the position loop affects the pointing accuracy of the optical-electrical turntable. The angle measurement error of the encoder after factory calibration can meet the index requirements, but in actual application, the turntable system still has angle measurement error due to the existence of turntable mechanical shaft system error (including the installation error of the encoder). Therefore, it is necessary to compensate for the angle measurement system error of the optical-electrical turntable.

[0003] The existing angle measurement error compensation technology compensates for the angle measurement error by the servo control software of the optical-electrical turntable system, which belongs to the lower layer of software, so it is not applicable to some servo control systems that have been integrated and solidified. In addition, the angle measurement error compensation directly calculates and compensates for the feedback value of the angle measurement element, which affects the real-time performance of the feedback information, and is not suitable for some high-precision turntable position control systems. Therefore, we provide an optical-electrical turntable encoder angle measurement error compensation method based on embedded management and control software. SUMMARY

[0004] In view of the above defects or deficiencies in the prior art, it is desirable to provide an optical-electrical turntable encoder angle measurement error compensation method based on embedded management and control software, which is timely and real-time.

[0005] In a first aspect, the present application provides an optical-electrical turntable encoder angle measurement error compensation method based on embedded management and control software, comprising the following steps:

[0006] A 24-sided prism is arranged on the angle measurement module of the optical-electrical turntable;

[0007] The angle measurement error of the angle measurement module is calibrated to obtain a first angle measurement error data set; the first angle measurement error data set is calibrated by a collimator and a 24-sided prism;

[0008] Data fitting is performed based on the first angle measurement error data set to obtain an initial fitting error; the data fitting is calculated by the management and control end of the optical-electrical turntable;

[0009] A target compensation position instruction is obtained, which is compensated by the management and control end according to the initial fitting error;

[0010] Output target compensation position instruction to the photoelectric turntable.

[0011] According to the technical scheme provided by the embodiment of the application, the 24-sided prism is replaced by a 23-sided prism;

[0012] Calibrate the angle measurement error of the encoder to obtain a second angle measurement error data set;

[0013] Determine the angle measurement error compensation effect, and if the elements in the second angle measurement error data set are outside the preset error range, it is considered that the compensation fitting is invalid.

[0014] Change the order of the initial fitting function to obtain a first fitting error;

[0015] Based on the first fitting error, the target compensation position instruction is obtained again and output to the photoelectric turntable.

[0016] According to the technical scheme provided by the embodiment of the application, the compensation feedback position information includes the following steps:

[0017] Obtain the feedback position information of the photoelectric turntable, and the photoelectric turntable position information is collected by the encoder and sent to the control end;

[0018] Compensate the feedback position information, and the compensation feedback position information is compensated by the control end.

[0019] According to the technical scheme provided by the embodiment of the application, the fitting error is obtained according to the following fitting curve:

[0020] e=a1sin(b1θ+c1)+a2sin(b2θ+c2)+a3sin(b3θ+c3)...a n sin(b n θ+c n ) (1)

[0021] Wherein, e represents the fitting error; a1, a2, a3, a n represent the amplitude parameters of the fitting curve; b1, b2, b3, b n represent the frequency parameters of the fitting curve; c1, c2, c3, c n represent the phase parameters of the fitting curve; n represents the order of the fitting function.

[0022] In a second aspect, the application provides a server, including a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor executes the computer program to realize the above-mentioned photoelectric turntable encoder angle measurement error compensation method based on embedded control software.

[0023] In a third aspect, the present application provides a computer readable storage medium, wherein the computer program is executed by a processor to implement the steps of the photoelectric turntable encoder angle error compensation method based on embedded management and control software.

[0024] In summary, the technical scheme specifically discloses a photoelectric turntable encoder angle error compensation method based on embedded management and control software, which comprises the following steps: setting a 24-sided prism on an angle measurement module of a photoelectric turntable, calibrating the angle measurement error of the angle measurement module, then calculating the angle measurement error by using a management and control end of the photoelectric platform and compensating according to the fitting error obtained by calculation, and then sending the compensated target compensation position instruction to a control system of the photoelectric turntable.

[0025] The present application calculates and compensates the angle position instruction sent by the upper computer to the photoelectric turntable through the management and control software, so that the angle measurement error is compensated at the front end of the photoelectric turntable, and the real-time performance and other performances of the servo control system of the photoelectric turntable are not affected. In addition, the embedded management and control software can compensate the angle measurement error of the photoelectric turntable position control system which has been integrated and solidified, and has a wide range of applications. BRIEF DESCRIPTION OF DRAWINGS

[0026] Other features, objects and advantages of the present application will become more apparent from the following detailed description of non-limiting embodiments made with reference to the accompanying drawings:

[0027] Figure 1 Flowchart of the photoelectric turntable encoder angle error compensation method based on embedded management and control software.

[0028] Figure 2 Method diagram for fitting the calibrated angle measurement error data set by using the Matlab toolbox in the photoelectric turntable encoder angle error compensation method based on embedded management and control software.

[0029] Figure 3 Comparison diagram of the angle measurement error compensation after compensation and the initial calibration error applied to a certain photoelectric turntable in the photoelectric turntable encoder angle error compensation method based on embedded management and control software.

[0030] Figure 4 Principle block diagram of a server.

[0031] Label in the figure: 501, CPU; 502, ROM; 503, RAM; 504, bus; 505, I / O interface; 506, input part; 507, output part; 508, storage part; 509, communication part; 510, drive; 511, removable medium. DETAILED DESCRIPTION

[0032] The application will be described in further detail below with reference to the drawings and embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not intended to limit the application. In addition, it should be noted that only parts related to the application are shown in the drawings for ease of description.

[0033] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the drawings and embodiments.

[0034] Embodiment 1

[0035] Please refer to Figure 1 The first embodiment of the photoelectric turntable encoder angle error compensation method provided by the present application is shown in the flowchart, which includes the following steps:

[0036] In this embodiment, the system of the angle error compensation method includes a host computer, a control software and a photoelectric turntable.

[0037] The type of the host computer is optionally a DSP. The host computer is used to send a position instruction to the photoelectric turntable. The control software, i.e. the control end, is used to receive the instruction of the host computer and compensate the position instruction according to the calculated fitting error, so as to obtain a target compensation position instruction. Then the target compensation position instruction is sent to the photoelectric turntable, so that the angle error compensation of the photoelectric turntable can be realized in the front end, and the pointing error of the photoelectric turntable is more effectively reduced.

[0038] Specifically, the photoelectric turntable encoder angle error compensation method includes the following steps:

[0039] A 24-sided prism is arranged on the rotation axis of the photoelectric turntable. The rotation axis is connected with an encoder. The encoder forms an angle measurement module of the photoelectric turntable.

[0040] The angle measurement error of the encoder is calibrated to obtain a first angle measurement error data set. The first angle measurement error data set is calibrated by a collimator and a 24-sided prism.

[0041] The calibrated angle measurement error data set includes 24 pieces of angle measurement error data.

[0042] As shown in Figure 2 Based on the first angle measurement error data set, data fitting is performed to obtain an initial fitting error. The data fitting is calculated by the control end of the photoelectric turntable.

[0043] The least square fitting can be performed by using a Matlab toolbox for fitting a set of obtained angle measurement error data sets. Figure 2The fitting curve is selected to be a triangular function polynomial with adjustable order, for example, taking the fourth order as an example, the expression of the fitting triangular function error curve is e=a1sin(b1θ+c1)+a2sin(b2θ+c2)+a3sin(b3θ+c3)+a4sin(b4θ+c4);

[0044] The target compensation position instruction is obtained by the control end according to the initial fitting error compensation; the angle measurement error of the photoelectric rotary table is compensated by the control software in advance, and the calculation and compensation of the angle measurement error of the method are integrated in the embedded control software of the equipment, and the real-time performance and other performances of the servo control system of the photoelectric rotary table are not affected.

[0045] The target compensation position instruction is output to the control end of the photoelectric rotary table, so that the error of the photoelectric rotary table encoder when measuring an angle can be effectively reduced, and the angle measurement error compensation effect is as shown in Figure 3 The angle measurement error range of the photoelectric rotary table encoder is reduced from ±300°'' to ±7°'' by applying the method.

[0046] Specifically, the method further includes the following steps:

[0047] The 24-sided prism is replaced by a 23-sided prism, and the design method is that the 24-sided prism rotates by 15° for each face, and the fitting error obtained after fitting is an integer, and the test range is smaller than that of the 23-sided prism, so the 23-sided prism is used to replace the 24-sided prism for retesting during retesting. Since the 23-sided prism rotates by approximately 15.6522° for each face, the angle measurement error compensation effect of integers and decimals can be tested, which verifies the compensation result of the 24-sided prism and proves that the angle measurement module can perform good compensation for any angle after compensation.

[0048] The angle measurement error of the angle measurement module is calibrated to obtain a second angle measurement error data set;

[0049] The angle measurement error compensation effect is judged, and if the elements in the second angle measurement error data set are outside the preset error range, it is considered that the compensation fitting is invalid;

[0050] During the process of judging the angle measurement error compensation effect, the parallel light tube is used to test the angle deviation error of the existing photoelectric rotary table, i.e., the angle measurement error. When the angle measurement error value is within the preset error range (the error range of the angle measurement sensor itself), it is considered that the initial or last time compensation angle measurement error effect is good, i.e., the fitting compensation effect is good. If it is outside the preset error range, the order of the initial or last time fitting triangular function polynomial needs to be increased, and re-fitting is performed until the angle measurement residual error is within the preset error range.

[0051] Since the higher the order of fitting is, the more accurate the fitting data is, the first fitting error after initial error compensation can be obtained by changing the initial fitting parameter order;

[0052] Based on the first fitting error, the target compensation position instruction is obtained again and output to the control end of the photoelectric turntable.

[0053] Specifically, it also includes compensating feedback position information, which includes the following steps:

[0054] Obtain the feedback position information of the photoelectric turntable, which is collected by the encoder and sent to the control end;

[0055] Compensate the feedback position information, which is compensated by the control end.

[0056] In actual application process, for example, the host computer sends an angular position instruction to make the photoelectric turntable turn 10°, after the angle error compensation, the actual pointing of the photoelectric turntable is 10.1°, at this time, the information collected by the host computer shows 10.1°, which is not consistent with the sent angular position instruction information, so the control software needs to compensate the actual feedback position information to the host computer, so that the host computer also receives 10°, which is convenient for subsequent data recording and avoids information difference.

[0057] On the basis of the angle error compensation of the angular position instruction of the photoelectric turntable by the host computer, the control software should also compensate the position information reported by the encoder of the photoelectric turntable to the host computer, so that the instruction angle sent by the host computer and the position information reported by the photoelectric turntable can correspond.

[0058] Specifically, the fitting error is obtained according to the following fitting curve;

[0059] e=a1sin(b1θ+c1)+a2sin(b2θ+c2)+a3sin(b3θ+c3)...a n sin(b n θ+c n ) (1)

[0060] Wherein, e represents the fitting error; a1, a2, a3, a n represent the amplitude parameters of the fitting curve; b1, b2, b3, b n represent the frequency parameters of the fitting curve; c1, c2, c3, c n represent the phase parameters of the fitting curve; n represents the order of the fitting function.

[0061] Example 2

[0062] A server comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the steps of a method for compensating for an angle measurement error of an opto-electronic turntable encoder based on embedded management software according to the method of embodiment 1 when executing the computer program.

[0063] In the present embodiment, as shown in Figure 4 the computer system includes a central processing unit (CPU) 501 which can perform various appropriate actions and processes in accordance with a program stored in a read only memory (ROM) 502 or a program loaded from the storage section into a random access memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the system are also stored. The CPU 501, the ROM 502, and the RAM 503 are connected to each other through a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0064] The following components are connected to the I / O interface 505: an input section 506 including a keyboard, a mouse, etc.; an output section including a display such as a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 508 including a hard disk, etc.; and a communication section 509 including a network interface card such as a LAN card, a modem, etc. The communication section 509 performs communication processing via a network such as the Internet. A drive is also connected to the I / O interface 505 as necessary. A removable media 511 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc. is attached to the drive 510 as necessary, so that a computer program read therefrom is installed into the storage section 508 as necessary.

[0065] In particular, the above-described processes with reference to the flowcharts Figure 1 may be implemented as a computer software program. For example, embodiment 3 of the present application includes a computer program product comprising a computer program carried on a computer readable medium, the computer program containing program code for executing the methods shown in the flowcharts. In such an embodiment, the computer program can be downloaded and installed from a network by the communication section, and / or installed from a removable media. When the computer program is executed by the central processing unit (CPU) 501, the above-described functions defined in the system of the present application are performed.

[0066] It should be noted that the computer-readable medium shown in the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, the computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device or component. In the present application, the computer-readable signal medium can include a data signal carried in a baseband or as a part of a carrier wave, which carries computer-readable program code. Such a propagated data signal can take various forms, including but not limited to an electromagnetic signal, an optical signal or any suitable combination of the above. The computer-readable signal medium can also be any computer-readable medium other than the computer-readable storage medium, which can send, propagate or transmit a program for use by or in conjunction with an instruction execution system, device or component. The program code contained on the computer-readable medium can be transmitted by any suitable medium, including but not limited to wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0067] The flowcharts and block diagrams in the drawings illustrate the possible implementation architectures, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowcharts or block diagrams can represent a module, a program segment or a part of code containing one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur in different order than that shown in the drawings. For example, two blocks that are shown in succession can actually be executed substantially in parallel, and sometimes in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams or flowcharts, and the combination of blocks in the block diagrams or flowcharts, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0068] The units described in the embodiments of the present application can be implemented by software, or by hardware, or by a combination of software and hardware. The units described can be located in a single processor, or distributed over several processors. In some cases, the names of the units described are not intended to limit the scope of the units themselves. For example, the obtaining module can also be described as an "obtaining module configured to obtain a plurality of to-be-detected instances in the basic table".

[0069] As another aspect, the present application also provides a computer readable medium, which can be included in the electronic device described in the above embodiments, or can exist independently without being assembled into the electronic device. The computer readable medium carries one or more programs, which, when executed by the electronic device, enable the electronic device to implement the method for compensating for the angle measurement error of the photoelectric turntable encoder based on the embedded management software as described in the above embodiments.

[0070] The units described in the embodiments of the present application can be implemented by software, or by hardware, or by a combination of software and hardware. The units described can be located in a single processor, or distributed over several processors. In some cases, the names of the units described are not intended to limit the scope of the units themselves. For example, the obtaining module can also be described as an "obtaining module configured to obtain a plurality of to-be-detected instances in the basic table".

[0071] As another aspect, the present application also provides a computer readable medium, which can be included in the electronic device described in the above embodiments, or can exist independently without being assembled into the electronic device. The computer readable medium carries one or more programs, which, when executed by the electronic device, enable the electronic device to implement the method for compensating for the angle measurement error of the photoelectric turntable encoder based on the embedded management software as described in the above embodiments.

[0072] The above description is only the preferred embodiment of the present application and the explanation of the technical principles. It should be understood by those skilled in the art that the scope of the protection of the present application is not limited to the technical solutions formed by the specific combinations of the above technical features. It should also cover other technical solutions formed by the combinations of the above technical features or their equivalent features without departing from the concept of the present application. For example, the technical solutions formed by the mutual replacement of the above features and the technical features with similar functions disclosed (but not limited to) in the present application.

Claims

1. An embedded software-based photoelectric turntable encoder angle error compensation method, characterized in that, The method comprises the following steps: setting a 24-sided prism on an angle measuring module of an optoelectronic turntable; calibrating angle measuring errors of the angle measuring module to obtain a first angle measuring error data set; the first angle measuring error data set is obtained by calibration of a collimator and the 24-sided prism; performing data fitting based on the first angle measuring error data set to obtain an initial fitting error; the data fitting is calculated by a control end of the optoelectronic turntable; obtaining a target compensation position instruction; the target compensation position instruction is obtained by compensation of the control end according to the initial fitting error; replacing the 24-sided prism with a 23-sided prism; calibrating angle measuring errors of the angle measuring module to obtain a second angle measuring error data set; judging a compensation effect of the angle measuring errors; if elements in the second angle measuring error data set are outside a preset error range, changing an order of an initial fitting function, obtaining a first fitting error, and sending the first fitting error to the control end of the optoelectronic turntable; based on the first fitting error, obtaining a target compensation position instruction again to compensate the angle measuring errors at a front end of the optoelectronic turntable; outputting the target compensation position instruction to the optoelectronic turntable; the method further comprises the following steps of compensating feedback position information: obtaining optoelectronic turntable feedback position information; the optoelectronic turntable position information is obtained by an encoder and sent to the control end; compensating the feedback position information; the compensation of the feedback position information is performed by the control end. the fitting error is obtained according to the following fitting curve: e = a1sin(b1θ+c1)+ a2sin(b2θ+ c2)+ a3sin(b3θ+ c3)...ansin(bnθ+cn) (1) wherein e represents the fitting error; a1, a2, a3, an represent amplitude parameters of the fitting curve; b1, b2, b3, bn represent frequency parameters of the fitting curve; c1, c2, c3, cn represent phase parameters of the fitting curve; and n represents an order of the fitting function.

2. A server comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein, the processor executes the computer program to implement the optoelectronic turntable encoder angle measuring error compensation method based on embedded control software according to claim 1.

3. A computer readable storage medium having a computer program, characterized in that the computer program is executed by the processor to implement the steps of the optoelectronic turntable encoder angle measuring error compensation method based on embedded control software according to claim 1.

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