Encoder ruling compensation method, device, absolute value encoder and storage medium

Abstract

The application discloses an encoder ruling line compensation method and device, an absolute value encoder and a storage medium. The method comprises the following steps: acquiring a first analog signal corresponding to a main code channel, a second analog signal corresponding to a cursor code channel and a third analog signal corresponding to a calibration code channel when the absolute value encoder rotates one circle; determining a first absolute position according to the first analog signal and the second analog signal; determining a second absolute position according to the first analog signal and the third analog signal; obtaining a third absolute position based on the first absolute position and the second absolute position; determining ruling line offset information between the first absolute position and the third absolute position; and obtaining a segmented compensation parameter set through fitting and interpolation by using the ruling line offset information, wherein the segmented compensation parameter set is used for error compensation on the third absolute position obtained by the absolute value encoder. Through the application, the accuracy and reliability of the absolute value encoder are greatly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of encoders, in particular to an encoder ruling line compensation method, device, absolute value encoder and computer readable storage medium. BACKGROUND

[0002] With the rapid development of industrial control technology and the increasing popularity of electric devices such as elevators, and the continuous upgrading of China's manufacturing industry, it provides a huge market for the development of absolute value encoder industry. As a position measurement sensor in the motor control system, the absolute value encoder has been more and more widely used in angle, length measurement and positioning control in industrial automation systems and elevator systems due to its multi-channel combination to realize absolute position and enhance anti-interference and anti-pollution, effectively improving the control accuracy of the motor. With the demand for high-precision processing and elevator traction machine free tuning, the absolute position and positioning accuracy of the encoder also put forward important technical requirements. Since the absolute position of the absolute value encoder is based on the ruling line and the ruling line inside the position splicing, the determination of the encoder ruling line is particularly important, and the determination of the ruling line is not allowed to jump. Otherwise, it will cause a large deviation between the reading of the encoder and the actual situation.

[0003] At present, the determination of the ruling line of the absolute value encoder mostly adopts a plurality of code channels combined into a plurality of groups of vernier code channels to determine the ruling line of the encoder, and such method has very high requirements for the code disc, such as code disc processing technology, installation precision, code disc pollution, etc. For example, when the ruling line of any one code channel is polluted, the absolute value encoder has a ruling line jump at this place, especially the more code channels, the more sensitive to pollution, the easier to occur ruling line jump, the ruling line jump causes absolute position jump, and then the danger of motor flying occurs; for example, when the code disc installation precision is not up to standard, such as the code disc jumps along the axial and radial directions during rotation, the encoder ruling line will jump, causing the absolute position to jump, and then the danger of motor flying also occurs. SUMMARY

[0004] The main purpose of the present application is to provide an encoder ruling line compensation method, device, absolute value encoder and computer readable storage medium, which aims to solve the technical problems of the current absolute value encoder that is easy to cause ruling line jump and low accuracy in determining absolute position.

[0005] To achieve the above object, the application provides an encoder ruling line compensation method applied to an absolute value encoder, wherein the absolute value encoder is connected with a motor shaft; the absolute value encoder comprises a cursor code disc, wherein the cursor code disc is provided with a calibration code track, a main code track and a cursor code track; the cursor code track, the main code track and the calibration code track are aligned at the head and tail, and the scale number of the main code track is one more than that of the cursor code track, and the scale number of the main code track is more than that of the calibration code track by a preset number.

[0006] The encoder ruling line compensation method comprises the following steps:

[0007] acquiring a first analog signal corresponding to the main code track, a second analog signal corresponding to the cursor code track and a third analog signal corresponding to the calibration code track when the absolute value encoder rotates one circle;

[0008] determining a first absolute position according to the first analog signal and the second analog signal;

[0009] determining a second absolute position according to the first analog signal and the third analog signal;

[0010] obtaining a third absolute position based on the first absolute position and the second absolute position;

[0011] determining ruling line offset information between the first absolute position and the third absolute position;

[0012] obtaining a segmented compensation parameter set by fitting and interpolation using the ruling line offset information, wherein the segmented compensation parameter set is used for error compensation of the third absolute position obtained by the absolute value encoder.

[0013] Optionally, the step of determining the first absolute position according to the first analog signal and the second analog signal comprises:

[0014] obtaining first angle information according to the first analog signal;

[0015] obtaining second angle information according to the second analog signal;

[0016] determining first offset information of the second angle information relative to the first angle information, and taking the first offset information as a first compensation value;

[0017] obtaining the first absolute position using the first compensation value, the first angle information and the second angle information.

[0018] Optionally, the step of determining the second absolute position according to the first analog signal and the third analog signal comprises:

[0019] solving the first angle information according to the first analog signal;

[0020] solving the third angle information according to the third analog signal;

[0021] determining second offset information of the third angle information relative to the first angle information, taking the second offset information as a second compensation value;

[0022] solving a second absolute position by using the second compensation value, the first angle information and the third angle information.

[0023] Optionally, the step of solving a third absolute position based on the first absolute position and the second absolute position comprises:

[0024] taking high bits of the first absolute position as target high bits;

[0025] taking low bits of the second absolute position as target low bits;

[0026] splicing the target high bits and the target low bits to obtain an initial absolute position;

[0027] determining an error value between low bits of the first absolute position and low bits of the second absolute position;

[0028] taking the error value as a third compensation value;

[0029] compensating for splicing errors of the initial absolute position by using the third compensation value to solve a third absolute position.

[0030] Optionally, the step of determining scribe line offset information between the first absolute position and the third absolute position comprises:

[0031] obtaining a plurality of pairs of absolute position information based on the first absolute position and the third absolute position, wherein each pair of absolute position information contains a first absolute position of a sampling point and a corresponding third absolute position;

[0032] determining a scribe line offset value between the first absolute position and the third absolute position in each pair of absolute position information;

[0033] taking the scribe line offset value between the first absolute position and the third absolute position in each pair of absolute position information as the scribe line offset information.

[0034] Optionally, the vernier code disc is further provided with an auxiliary code track, and the number of scales of the auxiliary code track is less than the number of scales of the main code track; after the step of obtaining the segmented compensation parameter set by fitting and interpolation using the scribe line offset information, the method further comprises:

[0035] acquiring a fourth analog signal corresponding to the auxiliary code track when the absolute value encoder rotates one circle;

[0036] solving a fourth angle information according to the fourth analog signal;

[0037] determining a segmented correction auxiliary code track angle offset value based on the fourth angle information and the graduation offset information, the segmented correction auxiliary code track angle offset value being used for error compensation of the third absolute position.

[0038] Optionally, after determining the segmented correction auxiliary code track angle offset value based on the fourth angle information and the graduation offset information, the method further comprises:

[0039] determining a first weight value corresponding to the segmented compensation parameter set, and determining a second weight value corresponding to the segmented correction auxiliary code track angle offset value;

[0040] determining a first product between the segmented compensation parameter set and the first weight value, and determining a second product between the segmented correction auxiliary code track angle offset value and the second weight value;

[0041] performing error compensation on the third absolute position by using a sum value between the first product and the second product.

[0042] Optionally, after determining the segmented correction auxiliary code track angle offset value based on the fourth angle information and the graduation offset information, the method further comprises:

[0043] writing the segmented compensation parameter set and the segmented correction auxiliary code track angle offset value into a preset storage area in the absolute value encoder.

[0044] In addition, to achieve the above-mentioned purpose, the application further provides an absolute value encoder, comprising a cursor code disc and an optical module, the cursor code disc is provided with a calibration code track, a main code track and a cursor code track, the cursor code track, the main code track and the calibration code track are aligned at the head and tail, the number of graduations of the main code track is one more than the number of graduations of the cursor code track, and the number of graduations of the main code track is more than the number of graduations of the calibration code track by a preset number; the cursor code disc is further provided with an auxiliary code track, and the number of the auxiliary code track is less than the number of graduations of the main code track.

[0045] The optical module is arranged opposite to the cursor code disc, and the optical module is used for performing absolute position solving by using the segmented compensation parameter set determined by the encoder graduation compensation method.

[0046] Furthermore, to achieve the above object, the present application also provides an encoder ruling line compensation device, comprising:

[0047] An information sampling module is configured to acquire a first analog signal corresponding to a main code track, a second analog signal corresponding to a cursor code track, and a third analog signal corresponding to a calibration code track after the absolute value encoder rotates one circle.

[0048] A position solving module is configured to determine a first absolute position according to the first analog signal and the second analog signal, determine a second absolute position according to the first analog signal and the third analog signal, and solve a third absolute position based on the first absolute position and the second absolute position.

[0049] A segmented compensation module is configured to determine ruling line offset information between the first absolute position and the third absolute position, and obtain a segmented compensation parameter set by fitting and interpolation using the ruling line offset information, wherein the segmented compensation parameter set is used for error compensation of the third absolute position solved by the absolute value encoder.

[0050] Furthermore, to achieve the above object, the present application also provides an encoder ruling line compensation device, comprising a processor, a memory, and an encoder ruling line compensation program stored in the memory and executable by the processor, wherein the encoder ruling line compensation program is executed by the processor to implement the steps of the above-mentioned encoder ruling line compensation method.

[0051] The present application also provides a computer readable storage medium, wherein an encoder ruling line compensation program is stored in the computer readable storage medium, and the encoder ruling line compensation program is executed by a processor to implement the steps of the above-mentioned encoder ruling line compensation method.

[0052] The encoder ruling line compensation method in the technical scheme of the present application comprises the following steps: acquiring a first analog signal corresponding to a main code track, a second analog signal corresponding to a cursor code track, and a third analog signal corresponding to a calibration code track after the absolute value encoder rotates one circle; determining a first absolute position according to the first analog signal and the second analog signal; determining a second absolute position according to the first analog signal and the third analog signal; solving a third absolute position based on the first absolute position and the second absolute position; determining ruling line offset information between the first absolute position and the third absolute position; and obtaining a segmented compensation parameter set by fitting and interpolation using the ruling line offset information, wherein the segmented compensation parameter set is used for error compensation of the third absolute position solved by the absolute value encoder. The present application solves the technical problems that the current absolute value encoder is prone to ruling line jump and has low absolute position accuracy.

[0053] The application mainly realizes the more accurate motor rotating position by collecting the analog signals corresponding to each code channel of the absolute value encoder in real time during the constant speed operation of the absolute value encoder, analyzing the first absolute position and the second absolute position from the analog signals, obtaining the third absolute position based on the first absolute position and the second absolute position, and finally performing the segmented error compensation on the third absolute position. The absolute value encoder is calibrated and corrected by the segmented scale line compensation and scale line of the absolute position of the encoder during the operation, thereby eliminating the scale line jump caused by the code disc pollution and code disc bounce in the actual work of the absolute value encoder, greatly improving the reliability and accuracy of the absolute value encoder, effectively avoiding the inaccurate reading of the encoder and the misjudgment of the current actual rotating position of the motor caused by the scale line jump of the code disc, preventing the danger caused by the motor flying, and improving the operation safety of the motor electric equipment. BRIEF DESCRIPTION OF DRAWINGS

[0054] Figure 1 The structure schematic diagram of the hardware operation environment of the encoder scale line compensation device involved in the embodiment scheme of the application is shown.

[0055] Figure 2 The flowchart of the first embodiment of the encoder scale line compensation method of the application is shown.

[0056] Figure 3 The detailed flowchart of step S20 of the embodiment of the encoder scale line compensation method of the application is shown.

[0057] Figure 4 The detailed flowchart of step S30 of the embodiment of the encoder scale line compensation method of the application is shown.

[0058] Figure 5 The flowchart after step S60 of the embodiment of the encoder scale line compensation method of the application is shown.

[0059] Figure 6 The frame structure schematic diagram of the encoder scale line compensation device of the application is shown.

[0060] Figure 7 The frame structure schematic diagram of the encoder scale line compensation device of the application is shown.

[0061] Explanation of the reference signs:

[0062] Reference Name Reference Name 1 Data acquisition device 2 Data storage device 3 Compensation parameter read / write device 4 Data processing device

[0063] The implementation, functional features and advantages of the application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0064] It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

[0065] The embodiment of the present application provides an encoder ruling line compensation device.

[0066] As shown in Figure 1 , Figure 1 is a structural diagram of a hardware running environment of the encoder ruling line compensation device.

[0067] As shown in Figure 1 , the encoder ruling line compensation device can include a processor 1001, for example, a CPU, a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002. The communication bus 1002 is used to realize the connection communication between the components. The user interface 1003 can include a display (Display), an input unit such as an adjustment panel, and the optional user interface 1003 can further include a standard wired interface and a wireless interface. The network interface 1004 can optionally include a standard wired interface and a wireless interface (such as a WIFI interface). The memory 1005 can be a high-speed RAM memory or a stable memory (non-volatile memory) such as a disk memory. The memory 1005 can optionally be a storage device independent of the aforementioned processor 1001. The memory 1005 as a computer storage medium can include an encoder ruling line compensation program.

[0068] Those skilled in the art can understand that the hardware structure shown in Figure 1 does not constitute a limitation on the device, and can include more or fewer components than those shown, or combine certain components, or different component arrangements.

[0069] Continuing to refer to Figure 1 , Figure 1 , the memory 1005 as a computer readable storage medium can include an operating device, a user interface module, a network communication module, and an encoder ruling line compensation program.

[0070] In Figure 1 , the network communication module is mainly used to connect the server and communicate data with the server; and the processor 1001 can call the encoder ruling line compensation program stored in the memory 1005 and execute the steps in each of the following embodiments.

[0071] In an embodiment, refer to Figure 6 , the processor 1001 can call the encoder ruling line compensation program stored in the memory 1005 and execute the steps in each of the following embodiments.The encoder line compensation device is electrically connected with the absolute value encoder, and can specifically include a data acquisition device 1, a data processing device 2, a data storage device 3 and a compensation parameter read-write device 4. An input end of the data acquisition device 1 is electrically connected with an output end of the absolute value encoder, an output end of the data acquisition device 1 is electrically connected with an input end of the data processing device 2, an output end of the data processing device 2 is electrically connected with an input end of the data storage device 3, and an output end of the data storage device 3 is electrically connected with an input end of the compensation parameter read-write device 4. An output end of the compensation parameter read-write device 4 is electrically connected with an input end of the absolute value encoder.

[0072] In addition, it should be further pointed out that the encoder line compensation device can be various computer devices.

[0073] Based on the hardware structure of the above-mentioned encoder line compensation device, various embodiments of the encoder line compensation method of the present application are proposed.

[0074] The embodiment of the present application provides an encoder line compensation method.

[0075] Please refer to Figure 2 , Figure 2 The flowchart of the first embodiment of the encoder line compensation method of the present application is shown in the figure. In the first embodiment of the present application, the encoder line compensation method is applied to an absolute value encoder, and the absolute value encoder is connected with a motor shaft. The absolute value encoder includes a cursor code disc. The encoder line compensation method is applied to the absolute value encoder, and the absolute value encoder is connected with a motor shaft. The absolute value encoder includes a cursor code disc. The cursor code disc is provided with a calibration code track, a main code track and a cursor code track. The cursor code track, the main code track and the calibration code track are aligned at the head and tail, and the number of scales of the main code track is one more than the number of scales of the cursor code track. The number of scales of the main code track is more than the number of scales of the calibration code track by a preset number.

[0076] In addition, the cursor code disc is further provided with an auxiliary code track, and the number of auxiliary code tracks is less than the number of scales of the main code track.

[0077] In one embodiment, the absolute value encoder can be coaxially connected with the motor. The alignment of the start and end scales of the vernier code track, the main code track, the calibration code track and the auxiliary code track means the alignment of the start scales of the code tracks and the alignment of the end scales of the code tracks. The specific relationship among the number of scales of the main code track, the number of scales of the vernier code track, the number of scales of the calibration code track and the number of scales of the auxiliary code track can be represented as: the total number of scales of the main code track is m, the total number of scales of the vernier code track is m-1, the total number of scales of the calibration code track is m-n, the total number of scales of the auxiliary code track is x, and m is greater than x, wherein m and n and x can be set according to actual needs, which are not limited herein.

[0078] In the present embodiment, the motor can be a rotary motor or a linear motor. When the motor is a rotary motor, the vernier code disc can be a circular disc. When the motor is a linear motor, the vernier code disc can be a scale. The specific type can be determined according to actual conditions, which is not limited herein.

[0079] The encoder scale compensation method can include the following steps:

[0080] In step S10, the first analog signal corresponding to the main code track, the second analog signal corresponding to the vernier code track and the third analog signal corresponding to the calibration code track are obtained when the absolute value encoder rotates one circle.

[0081] When the absolute value encoder rotates one circle, a plurality of analog signals of the absolute value encoder are obtained, and then a plurality of analog information can be calculated, including the first analog signal corresponding to the main code track, the second analog signal corresponding to the vernier code track and the third analog signal corresponding to the calibration code track. The fourth analog signal corresponding to the auxiliary code track can also be obtained.

[0082] The first analog signal is analyzed to obtain the main code track start and the current angle of the main code track. The second analog signal is analyzed to obtain the vernier code track start and the current angle of the vernier code track. The third analog signal is analyzed to obtain the calibration code track start and the current angle of the calibration code track. The fourth analog signal is analyzed to obtain the auxiliary code track start and the current angle of the auxiliary code track.

[0083] In the present embodiment, the execution subject of each step is an encoder scale compensation device. The encoder scale compensation device is electrically connected with the absolute value encoder, used for collecting analog signals of the absolute value encoder to obtain analog information and compensating and correcting the current angles of the code tracks in each vernier group based on the collected analog information. The analog signals can be various waveform signals, such as sine wave, cosine wave, square wave, pulse wave and the like.

[0084] In an embodiment, the step S10 of acquiring the first analog signal corresponding to the main code track, the second analog signal corresponding to the cursor code track and the third analog signal corresponding to the calibration code track when the absolute value encoder rotates one circle of the main code track specifically comprises:

[0085] When the absolute value encoder is uniformly rotated by the motor and sampled at a preset high frequency for at least one complete circle, the first analog signal corresponding to the main code track, the second analog signal corresponding to the cursor code track and the third analog signal corresponding to the calibration code track in the absolute value encoder are acquired by a data acquisition device.

[0086] During the duration of collecting the analog signals of the absolute value encoder, the absolute value encoder needs to be uniformly rotated at a low speed by the electrode and sampled at a preset high frequency. The low speed can be less than 1 / 3 of the maximum set speed of the motor, which depends on the power of the motor. The preset high frequency can be the maximum sampling frequency of the absolute encoder or 2 / 3 times of the maximum sampling frequency, or can be set to other specific frequency values as needed, which is not limited here.

[0087] While the absolute value encoder is running for one or more circles of sampling, the sampled data is input to the data acquisition device in the encoder scale compensation device, that is, the data acquisition device acquires the analog signals of the absolute value encoder, that is, the first analog signal corresponding to the main code track, the second analog signal corresponding to the cursor code track and the third analog signal corresponding to the calibration code track. The first analog signal can be calculated to obtain the first angle information about the main code track; the second analog signal can be calculated to obtain the second angle information about the cursor code track; and the third analog signal can be calculated to obtain the third angle information about the calibration code track. 。

[0088] The step S20 of determining the first absolute position according to the first analog signal and the second analog signal;

[0089] The first analog signal represents the complete signal about the main code track obtained by the absolute value encoder running for at least one complete measurement period (such as one circle). The first angle information about the main code track can be calculated, which represents the scale angle of the main code track at each measurement time during the running of the absolute value encoder. The second analog signal represents the complete signal about the cursor code track obtained by the absolute value encoder running for one complete measurement period. The second angle information about the cursor code track can be calculated, which represents the scale angle of the cursor code track at each measurement time during the running of the absolute value encoder.

[0090] Based on the first angle information and the second angle information, the cursor code channel or the main code channel can be compensated to obtain more accurate cursor code channel reading or main code channel reading, and then the first absolute position of the absolute value encoder after compensation is determined.

[0091] Specifically, refer to Figure 3 In an embodiment, the step S20 comprises:

[0092] Step S21, the first angle information is calculated according to the first analog signal.

[0093] In this embodiment, the first analog signal calculates the first angle information about the main code channel, and the first angle information represents the scale angle of the main code channel corresponding to each measurement time in the process of running the absolute value encoder.

[0094] Step S22, the second angle information is calculated according to the second analog signal.

[0095] The second analog signal calculates the second angle information about the cursor code channel, and the second angle information represents the scale angle of the cursor code channel corresponding to each measurement time in the process of running the absolute value encoder.

[0096] Step S23, the first offset information of the second angle information relative to the first angle information is determined, and the first offset information is taken as the first compensation value.

[0097] The first analog signal and the second analog signal are embodied as waveforms in a device that displays analog signals such as an oscilloscope. There are waveform differences between the corresponding waveform regions on the complete waveform of the first analog signal and the second analog signal (such as the difference between the first analog signal waveform and the second analog signal waveform at a certain time). Such waveform differences are reflected in the first angle information and the second angle information, mainly the difference between the parameter values (key-value pairs) in the first angle information and the corresponding parameter values in the second angle information. The collection of differences between each parameter value is the first offset information.

[0098] The first offset information is taken as the first compensation value to compensate the first angle information or the second angle information.

[0099] Step S24, the first absolute position is calculated using the first compensation value, the first angle information and the second angle information.

[0100] The first compensation value can be used to compensate the first angle information, or the first compensation value can be used to compensate the second angle information.

[0101] In an embodiment, the first compensation value can be used to compensate the first angle information to obtain compensated first angle information, i.e. the first compensation value is added to or subtracted from the reading of the main code track (the angle of the scale line) to compensate the scale of the main code track to obtain the corrected reading of the main code track, and the compensated first angle information is added to the second angle information to obtain the first absolute position.

[0102] In another embodiment, the first compensation value can also be used to compensate the second angle information to obtain compensated second angle information, i.e. the first compensation value is added to or subtracted from the reading of the cursor code track (the angle of the scale line) to compensate the scale of the cursor code track to obtain the corrected reading of the cursor code track, and the compensated second angle information is added to the first angle information to obtain the first absolute position.

[0103] The first absolute position represents the first rotational position of the motor axially connected to the absolute value encoder. The absolute position is the position relative to the origin in a measurement period, and the position is unique in a measurement period.

[0104] At this point, a more accurate and reliable motor position can be obtained, and the first rotational position is obtained by automatically reading the absolute value encoder.

[0105] In step S30, a second absolute position is determined according to the first analog signal and the third analog signal.

[0106] The first analog signal represents a complete signal about the main code track obtained by running the absolute value encoder for at least one period (e.g. one revolution). The first angle information about the main code track can be obtained by calculation, and the first angle information represents the scale line angle of the main code track corresponding to each measurement time during the running of the absolute value encoder. The third analog signal represents a complete signal about the calibration code track obtained by running the absolute value encoder for at least one period. The third angle information about the calibration code track can be obtained by calculation, and the third angle information represents the scale line angle of the calibration code track corresponding to each measurement time during the running of the absolute value encoder.

[0107] Based on the first angle information and the third angle information, the calibration code track or the main code track can be compensated to obtain a more accurate calibration code track reading or main code track reading, and then the second absolute position of the absolute value encoder after compensation is determined.

[0108] Specifically, please refer to Figure 4 In an embodiment, the step S30 includes:

[0109] In step S31, the first angle information is obtained by calculation according to the first analog signal.

[0110] In this embodiment, the first analog signal is calculated to obtain the first angle information about the main code track. The first angle information represents the etched angle of the main code track at each measurement moment during the operation of the absolute encoder.

[0111] Step S32: Calculate the third angle information based on the third analog signal;

[0112] The third analog signal is calculated to obtain the third angle information about the calibration code track. The third angle information represents the etched angle of the calibration code track at each measurement moment during the operation of the absolute encoder.

[0113] Step S33: Determine the second offset information of the third angle information relative to the first angle information, so as to use the second offset information as the second compensation value;

[0114] The first and third analog signals are represented as waveforms in devices that display analog signals, such as oscilloscopes. There are waveform differences between the first and third analog signals in multiple corresponding waveform regions on the complete waveform (for example, the difference between the waveform of the first analog signal and the waveform of the third analog signal at a certain moment). These waveform differences are reflected in the first and third angle information, mainly the differences between the parameter values ​​in the first angle information and the corresponding parameter values ​​in the third angle information. The sum of the differences between the various parameter values ​​is the second offset information.

[0115] The second offset information is used as the second compensation value to compensate for the first angle information or the third angle information.

[0116] Step S34: Calculate the second absolute position using the second compensation value, the first angle information, and the third angle information.

[0117] The second compensation value can be used to compensate for the first angle information, or it can be used to compensate for the third angle information.

[0118] In one embodiment, the first angle information can be compensated using a second compensation value to obtain the compensated first angle information. That is, the second compensation value is added to or subtracted from the reading (scale angle) of the main code track to compensate the scale of the main code track and obtain the corrected main code track reading. The second absolute position is calculated by adding the compensated first angle information to the third angle information.

[0119] In another embodiment, the third angle information can also be compensated by a second compensation value to obtain compensated third angle information, i.e. the second compensation value is added to or subtracted from the reading of the calibration code track (the angle of the graduation) to compensate the graduation of the calibration code track to obtain a corrected calibration code track reading, and the compensated third angle information is added to the first angle information to obtain the second absolute position.

[0120] In the embodiment, the first absolute position and the second absolute position can be obtained by determining the angle offset of the calibration code track and the vernier code track compared to the main code track, and the angle error caused by the code disc processing technology, the temperature drift of the circuit device, etc. is weakened, and then higher precision angle information is obtained.

[0121] In step S40, the third absolute position is obtained based on the first absolute position and the second absolute position.

[0122] The first absolute position and the second absolute position are subjected to a preset high-low bit splicing operation to obtain the third absolute position based on the first absolute position and the second absolute position.

[0123] In an embodiment, the step S40 comprises:

[0124] In step a, the high bit of the first absolute position is taken as a target high bit.

[0125] In step b, the low bit of the second absolute position is taken as a target low bit.

[0126] In step c, the target high bit and the target low bit are subjected to high-low bit splicing to obtain an initial absolute position.

[0127] After the first absolute position and the second absolute position are obtained, the high bit of the first absolute position can refer to the position data before a preset number of bits, and the preset number of bits can be set according to actual needs. For 26-bit absolute position calculation, the high bit can refer to 17-26 bits, the middle bit can refer to 9-18 bits, and the low bit can refer to 1-10 bits. Generally, the absolute position is in binary, and can also be in decimal. In order to facilitate the understanding of the concept of high-low bit, for example, the first absolute position is 20.83, and the preset number of bits can be the third bit corresponding to 8. Therefore, the high bit of the first absolute position 20.81 is 20.

[0128] The high bit of the first absolute value is taken as a target high bit, and the low bit of the second absolute value is taken as a target low bit to perform high-low bit splicing to obtain an initial absolute position. For example, the first absolute position is 20.83, the target high bit is 20, the low bit of the second absolute position is 0.81, and the target low bit is 0.81, so that the initial absolute position 20.81 is obtained. Compared with the first absolute position, the initial absolute position is obviously more accurate and specific.

[0129] Step d, determining an error value between the low bits of the first absolute position and the low bits of the second absolute position;

[0130] Step e, taking the error value as a third compensation value;

[0131] Step f, compensating the splicing error of the initial absolute position by using the third compensation value to obtain a third absolute position.

[0132] But the initial absolute position is not always more accurate than the first absolute position, for example, the first absolute position is 20.83, the second absolute position is 0.03, and the corresponding initial absolute position is 20.03. Obviously, the initial absolute position is inaccurate compared with the first absolute position, and there is a splicing error between the low bits of the first absolute position and the low bits of the second absolute position, so the initial absolute position needs to be compensated.

[0133] The low bits of the first absolute position refer to the preset number of bits of the first absolute position and the value after the preset number of bits, for example, the first absolute position is 20.83, and the low bits are 0.83. The low bits of the first absolute position can be subtracted from the low bits of the second absolute position, for example, the low bits of the second absolute position are 0.03, and the error value between them is 0.8, that is, the third compensation value is 0.8.

[0134] After obtaining the third compensation value, the absolute value of the third compensation value is compared with a preset difference threshold. If it is less than the preset difference threshold, the third absolute position does not need to be compensated, and the initial absolute position is directly taken as the third absolute position and output.

[0135] If it is greater than or equal to the preset difference threshold and the low bits of the first absolute position are greater than the low bits of the second absolute position in value, then the third compensation value needs to be incremented by one to obtain the compensation value 1 after the carry, for example, the initial absolute position in the above example is 20.03, and the third absolute position obtained after compensation is 21.03. In addition, if it is greater than or equal to the preset difference threshold and the low bits of the first absolute position are less than the low bits of the second absolute position in value, then the third compensation value needs to be decremented by one to obtain the compensation value 1 after the decrement, for example, the first absolute position is 20.03, and the low bits are 0.03. The second absolute position is 0.83, and the initial absolute position is 20.83. The third absolute position obtained after compensation is 19.83.

[0136] Through this embodiment, the initial absolute position can be obtained by using the high and low bit synthesis characteristics of the first absolute position and the second absolute position, and the third absolute position can be more accurately obtained by compensating the initial absolute position by the third compensation value, so that the line offset error caused by the machining process of the code disc, the temperature drift of the circuit device and the like can be effectively eliminated.

[0137] In step S50, line offset information between the first absolute position and the third absolute position is determined.

[0138] The line offset between the first absolute position and the third absolute position is a line offset value of the third absolute position relative to the first absolute position.

[0139] In an embodiment, the step S50 comprises:

[0140] In step g, a plurality of pairs of absolute position information are obtained based on the first absolute position and the third absolute position, wherein each pair of absolute position information comprises the first absolute position of a sampling point and the corresponding third absolute position.

[0141] In step h, a line offset value between the first absolute position and the third absolute position in each pair of absolute position information is determined.

[0142] In step i, the line offset value between the first absolute position and the third absolute position in each pair of absolute position information is taken as the line offset information.

[0143] During the operation of the absolute value encoder for at least one cycle, a preset number of first absolute positions and a preset number of second absolute positions are obtained based on a preset number of sampling points, and the first absolute position and the corresponding third absolute position are obtained for the same sampling point. There are as many pairs of absolute position information as there are sampling points.

[0144] The line offset value between the first absolute position and the third absolute position is a line offset value of the third absolute position relative to the first absolute position. Taking each line offset value as the line offset information can be used to compensate the line angle of the main code track, so as to further improve the accuracy of the absolute position of the absolute value encoder in the manner of improving the reading accuracy of the main code track.

[0145] In step S60, the line offset information is used to obtain a segmented compensation parameter set by fitting and interpolation, and the segmented compensation parameter set is used for error compensation of the third absolute position obtained by the absolute value encoder.

[0146] Fitting and interpolation of each scale line offset value in the scale line offset information can obtain a segmented compensation parameter set, and the third absolute position is compensated by the segmented compensation parameter set to obtain a compensated third absolute position, which is more accurate and reliable than the third absolute position before compensation.

[0147] In the embodiment, the segmented compensation parameter set can include a compensation curve, or multiple groups of key-value pairs, or a fitted formula, etc., which can be determined according to actual conditions, and the embodiments of the present specification are not limited in this regard.

[0148] In the embodiment, steps 10-60 can be measured in advance before the absolute value encoder is shipped, so that when powered on for use after shipment, the relevant information can be directly obtained from the preset area to perform scale line compensation, so that the absolute position can be calculated in real time and accurately. After a period of use, the pre-stored segmented compensation parameter set can also be updated according to the actual use, and the updated segmented compensation parameter set is used for error compensation.

[0149] Of course, it can be understood that in some embodiments, the segmented compensation parameter set can also be calculated in real time when powered on for use after shipment, and the calculated segmented compensation parameter set is used for error compensation. Although this method has a little real-time performance, the segmented compensation parameter set determined based on the actual use condition is relatively more accurate. The specific selection can be made according to the actual condition, and the embodiments of the present specification are not limited in this regard.

[0150] In the embodiment, the main code track and the cursor code track can be taken as a first cursor group, and the main code track and the calibration code track can be taken as a second cursor group, so that based on the characteristics of mutual correction between each cursor group of the absolute value encoder, the segmented compensation parameter set can be determined according to the error between the first cursor group and the second cursor group by using the segmented compensation method, and then the segmented scale line compensation of the third absolute position is performed by using the segmented compensation parameter set during the running of the absolute value encoder, so as to eliminate the scale line jump caused by code disc pollution, code disc bounce, etc. in the actual work of the absolute value encoder, and improve the reliability and accuracy of the absolute value encoder.

[0151] In an embodiment, the cursor code disc can further be provided with an auxiliary code track, and the number of the auxiliary code track is less than the number of scales of the main code track.

[0152] In the embodiment, the auxiliary code track can be used to further subdivide the segmented compensation parameter set to improve the accuracy of error compensation. In some embodiments, the number of scale lines of the auxiliary code track can be less than the number of scale lines of the main code track. When the number of scale lines of the main code track is 512, the number of scale lines of the auxiliary code track can be 4. Of course, the number of scale lines of the auxiliary code track is not limited to the above examples. The number of scale lines of the auxiliary code track can also be 8, 16, 11, etc. The specific number can be determined according to actual conditions, and the embodiment of the present specification does not limit this.

[0153] Please refer to Figure 5 After the segmented compensation parameter set is obtained by fitting and interpolation using the scale line offset information in the step S60, the method can further include:

[0154] In step S61, a fourth analog signal corresponding to the auxiliary code track is obtained when the absolute value encoder rotates one circle.

[0155] In step S62, fourth angle information is calculated according to the fourth analog signal.

[0156] Since the fourth analog signal can represent the light and dark changes of the scale lines on the auxiliary code track, which is reflected by the amplitude of the fourth analog signal, the fourth analog signal can be calculated according to the amplitude of the fourth analog signal to obtain the fourth angle information corresponding to one circle of the absolute value encoder.

[0157] In step S63, a segmented correction auxiliary code track angle offset value is determined based on the fourth angle information and the scale line offset information. The segmented correction auxiliary code track angle offset value is used for error compensation of the third absolute position.

[0158] In the embodiment, the fourth angle information can be compared with each segmented compensation parameter in the segmented compensation parameter set to obtain a segmented correction auxiliary code track angle offset value by fitting. The segmented correction auxiliary code track angle offset value can be used for real-time calibration and correction of the scale lines of the third absolute position.

[0159] In the embodiment, the segmented correction auxiliary code track angle offset value can also be calculated using a pre-set formula. The specific formula can be determined according to actual conditions, and the embodiment of the present specification does not limit this.

[0160] In the embodiment, the auxiliary code track is introduced, so that the scale lines of the absolute value encoder can be corrected in a segmented manner, effectively enhancing the anti-interference of the encoder scale line determination, and improving the reliability and accuracy of the photoelectric encoder.

[0161] In an embodiment, after the segmented correction auxiliary code track angle offset value is determined based on the fourth angle information and the scale line offset information in the step S63, the method further includes:

[0162] determining a first weight value corresponding to the set of segment compensation parameters, and determining a second weight value corresponding to the segment correction auxiliary code channel angle offset value;

[0163] determining a first product between the set of segment compensation parameters and the first weight value, and determining a second product between the segment correction auxiliary code channel angle offset value and the second weight value;

[0164] error compensating the third absolute position by using a sum value between the first product and the second product.

[0165] The set of segment compensation parameters and the segment correction auxiliary code channel angle offset value can be added together to collectively segment error compensate the third absolute position. Specifically, a weight coefficient (first weight value) can be set for the set of segment compensation parameters, which can be set based on experiments, and another weight coefficient (second weight value) can be set for the segment correction auxiliary code channel angle offset value, which can also be set based on experiments. The sum of the product obtained by multiplying the set of segment compensation parameters by the corresponding weight coefficient and the product obtained by multiplying the segment correction auxiliary code channel angle offset value by the corresponding weight coefficient is used to segment error compensate the third absolute position. Thus, a more accurate and specific compensated third absolute value is obtained compared to the third absolute value, and the compensated third absolute value is output, which is the most accurate absolute position. As a result, the absolute value encoder eliminates the line jump caused by code disc pollution, code disc bounce, etc. in actual work by segmenting and compensating the absolute position of the encoder and calibrating and correcting the lines, thereby greatly improving the reliability and accuracy of the absolute value encoder.

[0166] The present application mainly collects the analog signals corresponding to each code channel of the absolute value encoder in real time during the constant speed operation of the absolute value encoder, analyzes the first absolute position and the second absolute position from each analog signal, obtains the third absolute position based on the first absolute position and the second absolute position, and finally segment error compensates the third absolute position to determine a more accurate motor rotation position. As a result, the absolute value encoder eliminates the line jump caused by code disc pollution, code disc bounce, etc. in actual work by segmenting and compensating the absolute position of the encoder and calibrating and correcting the lines, thereby greatly improving the reliability and accuracy of the absolute value encoder. The present application effectively avoids the inaccurate reading of the encoder and the misjudgment of the current actual rotation position of the motor caused by the jump of the code disc lines, prevents the danger caused by the runaway of the motor, and improves the operation safety of the motor-driven equipment.

[0167] Based on the above various embodiments, in an embodiment, the encoder ruling compensation method can further include:

[0168] Step f, the first compensation value, the second compensation value, the third compensation value, the segmented compensation parameter set and the segmented correction auxiliary code channel angle offset value are written into the preset storage area in the absolute value encoder respectively;

[0169] In the above various embodiments, after the data processing device in the encoder ruling compensation device calculates the first compensation value, the first compensation value can be stored in the data storage device of the encoder ruling compensation device first, and the second compensation value, the third compensation value, the segmented compensation parameter set and the segmented correction auxiliary code channel angle offset value can also be stored in the data storage device of the encoder ruling compensation device first. Then, the first compensation value, the second compensation value, the third compensation value, the segmented compensation parameter set and the segmented correction auxiliary code channel angle offset value in the data storage device are written into the preset storage area in the absolute value encoder by the compensation parameter reading and writing device in the encoder ruling compensation device, that is, the above various compensation values are written into the specified address of the memory of the absolute value encoder.

[0170] Step g, reading the preset storage area to check whether the first compensation value, the second compensation value, the third compensation value, the segmented compensation parameter set and the segmented correction auxiliary code channel angle offset value are written successfully;

[0171] Then, the preset storage area of the absolute value encoder can be read in a traversal manner to detect whether the first compensation value, the second compensation value, the third compensation value, the segmented compensation parameter set and the segmented correction auxiliary code channel angle offset value are stored in the preset storage area. If all the above compensation parameters are stored, it is considered that the compensation parameters are written successfully. If one or more compensation parameters are not detected, it is considered that the writing is unsuccessful. The compensation parameters that are not written successfully can be re-written individually or all the compensation parameters can be re-written until all the compensation parameters are written successfully into the preset storage area of the absolute value encoder.

[0172] Step h, if the writing is successful, the step of obtaining the analog quantity information of the absolute value encoder is stopped.

[0173] In the case that all the compensation parameters are written successfully, the compensation and correction of the absolute value encoder are completed, and the acquisition of the analog quantity information of the absolute value encoder and the calculation of various compensation parameters by the encoder ruling compensation device can be stopped.

[0174] Through the embodiment, after the absolute value encoder is written with each compensation parameter, the actual situation written in the absolute value encoder is checked, so that it is ensured that all the compensation parameters are successfully written in the preset storage area of the absolute value encoder, and it is ensured that the absolute value encoder can perform real-time compensation and correction on the real-time absolute position of the motor in the subsequent, so that the actual rotating position of the motor with extremely high precision is always obtained.

[0175] In addition, with reference to Figure 7 The application further provides an encoder scale line compensation device, which comprises:

[0176] An information sampling module is configured to acquire a first analog signal corresponding to a main code track, a second analog signal corresponding to a cursor code track, and a third analog signal corresponding to a calibration code track of the absolute value encoder after one rotation;

[0177] A position solving module is configured to determine a first absolute position according to the first analog signal and the second analog signal, determine a second absolute position according to the first analog signal and the third analog signal, and solve a third absolute position based on the first absolute position and the second absolute position;

[0178] A segmented compensation module is configured to determine scale line offset information between the first absolute position and the third absolute position, and obtain a segmented compensation parameter set by fitting and interpolation using the scale line offset information, the segmented compensation parameter set being used for error compensation on the third absolute position solved by the absolute value encoder.

[0179] Optionally, the position solving module is further configured to:

[0180] solve first angle information according to the first analog signal;

[0181] solve second angle information according to the second analog signal;

[0182] determine first offset information of the second angle information relative to the first angle information, and take the first offset information as a first compensation value;

[0183] solve a first absolute position using the first compensation value, the first angle information and the second angle information.

[0184] Optionally, the position solving module is further configured to:

[0185] solve first angle information according to the first analog signal;

[0186] solve third angle information according to the third analog signal;

[0187] determining second offset information of the third angle information relative to the first angle information, taking the second offset information as a second compensation value;

[0188] solving a second absolute position by using the second compensation value, the first angle information and the third angle information.

[0189] Optionally, the position solving module is further configured to:

[0190] taking high bits of the first absolute position as target high bits;

[0191] taking low bits of the second absolute position as target low bits;

[0192] splicing the target high bits and the target low bits to obtain an initial absolute position;

[0193] determining an error value between the low bits of the first absolute position and the low bits of the second absolute position;

[0194] taking the error value as a third compensation value;

[0195] compensating for a splicing error of the initial absolute position by using the third compensation value to solve a third absolute position.

[0196] Optionally, the segmented compensation module is further configured to:

[0197] obtaining a plurality of pairs of absolute position information based on the first absolute position and the third absolute position, wherein each pair of absolute position information comprises a first absolute position of a sampling point and a corresponding third absolute position;

[0198] determining a scale line offset value between the first absolute position and the third absolute position in each pair of absolute position information;

[0199] taking the scale line offset value between the first absolute position and the third absolute position in each pair of absolute position information as the scale line offset information.

[0200] Optionally, the segmented compensation module is further configured to:

[0201] obtaining a fourth analog signal corresponding to the auxiliary code channel when the absolute value encoder rotates one circle;

[0202] solving fourth angle information according to the fourth analog signal;

[0203] determining a segmented correction auxiliary code channel angle offset value based on the fourth angle information and the scale line offset information, the segmented correction auxiliary code channel angle offset value being used for error compensation of the third absolute position.

[0204] Optionally, the segment compensation module is further configured to:

[0205] determine a first weight value corresponding to the segment compensation parameter set, and determine a second weight value corresponding to the segment correction auxiliary code channel angle offset value;

[0206] determine a first product between the segment compensation parameter set and the first weight value, and determine a second product between the segment correction auxiliary code channel angle offset value and the second weight value;

[0207] perform error compensation on the third absolute position by using a sum value between the first product and the second product.

[0208] Optionally, the segment compensation module is further configured to:

[0209] write the segment compensation parameter set and the segment correction auxiliary code channel angle offset value into a preset storage area in the absolute value encoder.

[0210] The encoder ruling compensation device specific implementation of the present application is basically the same as the above-mentioned encoder ruling compensation method each embodiment, and will not be repeated here.

[0211] In addition, the present application also provides a computer readable storage medium. The computer readable storage medium of the present application stores an encoder ruling compensation program, wherein the encoder ruling compensation program is executed by a processor to realize the steps of the above-mentioned encoder ruling compensation method.

[0212] The method realized by the encoder ruling compensation program when executed can refer to each embodiment of the encoder ruling compensation method of the present application, and will not be repeated here.

[0213] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, device, or computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program code.

[0214] The present application is described in reference to the flowchart and / or block diagram of the method, apparatus (device), and computer program product according to an embodiment of the present application. It is understood that each flow and / or block in the flowchart and / or block diagram, and a combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, a special purpose computer, an embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart and / or block diagram block or blocks. Figure 1 one or more flows and / or blocks. Figure 1 one or more blocks.

[0215] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart and / or block diagram block or blocks. Figure 1 one or more flows and / or blocks. Figure 1 one or more blocks.

[0216] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart and / or block diagram block or blocks. Figure 1 one or more flows and / or blocks. Figure 1 one or more blocks.

[0217] It should be noted that any references made in the claims to an "apparatus" or "device" should not be construed to cover the mere abstraction of the structure. The expression "comprising" does not exclude other elements or steps. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application can be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unitary claim, the features of the different embodiments can be combined with each other if this is explicit or implicit to a person skilled in the art. The mere fact that different features are recited in mutually different dependent claims does not indicate that a combination of these features cannot be used to advantage. The reference signs in the claims should not be construed as limiting the claim. Each of the cited documents is incorporated herein by reference.

[0218] While the preferred embodiments of the application have been described, additional variations and modifications can be made to the embodiments by those skilled in the art once they learn of the basic inventive concepts. Therefore, the appended claims are intended to cover all such variations and modifications as fall within the scope of the application.

[0219] The above merely describes the preferred embodiments of the present application, and is not intended to limit the patent scope of the present application. Any equivalent structural changes made according to the content of the present application specification and drawings, or direct / indirect application in other related technical fields, are included in the patent protection scope of the present application.

Claims

1. A method for encoder scribing compensation, characterized in that, The encoder marking compensation method is applied to an absolute encoder, which is axially connected to a motor. The absolute encoder includes a vernier code disk, which has a calibration code track, a main code track, and a vernier code track. The vernier code track, the main code track, and the calibration code track are all aligned end to end. The main code track has one more scale mark than the vernier code track, and the main code track has a preset number more scale marks than the calibration code track. The encoder scribing compensation method includes the following steps: Acquire the first analog signal corresponding to the main code track, the second analog signal corresponding to the vernier code track, and the third analog signal corresponding to the calibration code track as the absolute encoder rotates one revolution; The first absolute position is determined based on the first analog signal and the second analog signal; The second absolute position is determined based on the first analog signal and the third analog signal; Based on the first absolute position and the second absolute position, the third absolute position is calculated. Determine the scribe line offset information between the first absolute position and the third absolute position; Using the etched line offset information, a segmented compensation parameter set is obtained through fitting and interpolation. The segmented compensation parameter set is used to compensate for the error of the third absolute position calculated by the absolute encoder. The step of calculating the third absolute position based on the first absolute position and the second absolute position includes: Take the highest position of the first absolute position as the target high position; Take the lower bit of the second absolute position as the target lower bit; The third absolute position is obtained by concatenating the high and low positions of the target; Determining the scribe line offset information between the first absolute position and the third absolute position includes: Multiple pairs of absolute position information are obtained based on the first absolute position and the third absolute position, wherein each pair of absolute position information includes the first absolute position of a sampling point and the corresponding third absolute position; Determine the scribe line offset value between the first absolute position and the third absolute position in each pair of absolute position information; The etch offset value between the first absolute position and the third absolute position in each pair of absolute position information is used as the etch offset information.

2. The encoder scribing compensation method as described in claim 1, characterized in that, The step of determining the first absolute position based on the first analog signal and the second analog signal includes: The first angle information is obtained by calculating the first analog signal; The second angle information is obtained by calculating the second analog signal; Determine a first offset information of the second angle information relative to the first angle information, and use the first offset information as a first compensation value; The first absolute position is calculated using the first compensation value, the first angle information, and the second angle information.

3. The encoder scribing compensation method as described in claim 1, characterized in that, The step of determining the second absolute position based on the first analog signal and the third analog signal includes: The first angle information is obtained by calculating the first analog signal; The third angle information is obtained by solving the third analog signal; Determine a second offset information of the third angle information relative to the first angle information, and use the second offset information as a second compensation value; The second absolute position is calculated using the second compensation value, the first angle information, and the third angle information.

4. The encoder scribing compensation method as described in claim 1, characterized in that, The step of concatenating the target high-order and the target low-order bits to obtain the third absolute position includes: The initial absolute position is obtained by concatenating the high and low bits of the target. Determine the error value between the low-order bits of the first absolute position and the low-order bits of the second absolute position; The error value is used as the third compensation value; The third absolute position is determined based on the third compensation value and the initial absolute position.

5. The encoder scribing compensation method as described in claim 4, characterized in that, The step of determining the third absolute position based on the third compensation value and the initial absolute position includes: If the absolute value of the third compensation value is less than the preset difference threshold, then the initial absolute position is taken as the third absolute position; If the absolute value of the third compensation value is greater than or equal to the preset difference threshold, and the lower bit of the first absolute position is greater than the lower bit of the second absolute position, then the third compensation value is carried over by one bit, and the initial absolute position is compensated based on the carried-over third compensation value to obtain the third absolute position. If the absolute value of the third compensation value is greater than or equal to the preset phase difference threshold, and the lower digit of the first absolute position is less than the lower digit of the second absolute position, then the third compensation value is shifted by one position, and the initial absolute position is compensated based on the shifted third compensation value to obtain the third absolute position.

6. The encoder scribing compensation method as described in claim 1, characterized in that, The vernier encoder disk is further provided with auxiliary code tracks, the number of scales on the auxiliary code tracks being less than the number of scales on the main code tracks; after obtaining the piecewise compensation parameter set by fitting and interpolation using the scale offset information, the method further includes: Obtain the fourth analog signal corresponding to the auxiliary code track after the absolute encoder rotates one revolution; The fourth angle information is obtained by solving the fourth analog signal; Based on the fourth angle information and the etched line offset information, a segmented correction auxiliary code track angle offset value is determined, which is used to compensate for the error of the third absolute position.

7. The encoder scribing compensation method as described in claim 6, characterized in that, After determining the segmented correction auxiliary code track angle offset value based on the fourth angle information and the scribe line offset information, the method further includes: Determine the first weight value corresponding to the segmented compensation parameter set, and determine the second weight value corresponding to the segmented correction auxiliary code track angle offset value; Determine the first product between the segmented compensation parameter set and the first weight value, and determine the second product between the segmented correction auxiliary code track angle offset value and the second weight value; The third absolute position is compensated for using the sum of the first product and the second product.

8. The encoder scribing compensation method as described in claim 6, characterized in that, After determining the segmented correction auxiliary code track angle offset value based on the fourth angle information and the scribe line offset information, the method further includes: The segmented compensation parameter set and the segmented correction auxiliary code track angle offset value are written into the preset storage area in the absolute encoder.

9. An absolute encoder, characterized in that, The absolute encoder includes a vernier code disk and an optical module. The vernier code disk has a calibration code track, a main code track, and a vernier code track. The vernier code track, the main code track, and the calibration code track are all aligned end to end. The main code track has one more scale mark than the vernier code track, and the main code track has a predetermined number more scale marks than the calibration code track. The vernier code disk also has auxiliary code tracks, and the number of auxiliary code tracks is less than the number of scale marks of the main code track. The optical module is positioned opposite to the vernier code disk, and the optical module is used to perform absolute position calculation using the segmented compensation parameter set determined by the encoder scribing compensation method as described in any one of claims 1 to 8.

10. An encoder scribing compensation device, characterized in that, The encoder scribing compensation device includes a processor, a memory, and an encoder scribing compensation program stored in the memory that can be executed by the processor, wherein when the encoder scribing compensation program is executed by the processor, it implements the steps of the encoder scribing compensation method as described in any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores an encoder scribing compensation program, wherein when the encoder scribing compensation program is executed by a processor, it implements the steps of the encoder scribing compensation method as described in any one of claims 1 to 8.

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