Encoder and method, device and storage medium for position compensation of axial run-out thereof

Abstract

This invention discloses an encoder and its axial runout position compensation method, device, and storage medium. The encoder includes a stator disk and a rotor disk rotating relative to the stator disk. The rotor disk and the stator disk define multiple decoding regions. The rotor disk generates a magnetic field during its rotation stroke, allowing the stator disk to sequentially detect each of the decoding regions. The multiple decoding regions include a first decoding region. The encoder axial runout position compensation method includes the following steps: acquiring two first actual position information of the rotor disk on the first decoding region; calculating the target position information of the rotor disk based on the two first actual position information. This compensates for installation errors that may occur during the assembly of the encoder and the errors caused by vibrations generated during use, resulting in more accurate target position information of the rotor disk and thus improving the measurement accuracy of the encoder.

Description

Technical Field

[0001] This invention relates to the field of encoder technology, and in particular to an encoder and its axial runout position compensation method, device and storage medium. Background Technology

[0002] An encoder is a device that encodes and converts signals or data into a signal form that can be used for communication, transmission, and storage. Rotary encoders, in particular, can directly convert measured angular displacement into digital signals and are widely used in automatic measurement and control systems. However, with the continuous improvement of industrial automation, increasingly higher demands are being placed on the monitoring of parameters such as rotational speed and direction. While some products possess this function, their structures are generally complex, assembly is difficult, manufacturing costs are high, and resolution is low. Summary of the Invention

[0003] To address the shortcomings of traditional encoders, the inventors proposed an encoder comprising a stator disk and a rotor disk. This encoder requires axial magnetization. During the encoder assembly process, installation errors and vibrations generated during use can cause changes in the axial spacing between the stator disk and the rotor disk. Therefore, optimizing the encoder to reduce the impact of these changes on measurement accuracy is an urgent problem to be solved.

[0004] To achieve the above objectives, the present invention proposes a position compensation method for encoder axial runout. The encoder includes a stator disk and a rotor disk that rotates relative to the stator disk. The rotor disk and the stator disk define multiple decoding regions. The rotor disk generates a magnetic field during its rotation stroke so that the stator disk can sequentially detect each of the decoding regions. The multiple decoding regions include a first decoding region.

[0005] The encoder axial runout position compensation method includes the following steps:

[0006] Obtain the two first actual position information of the rotor disk in the first decoding area;

[0007] Based on the two first actual position information, the target position information of the rotor disk is calculated.

[0008] Optionally, the step of obtaining the two first actual position information of the rotor disk in the first decoding area includes:

[0009] Obtain the two first detection information items of the stator disk in the first decoding area;

[0010] Based on the two first detection information, the two first actual position information of the rotor disk on the first decoding area are calculated respectively.

[0011] Optionally, in the step of calculating the target position information of the rotor disk based on the two first actual position information: the target position information of the rotor disk is calculated using a first preset algorithm, wherein the first preset algorithm includes a weighted average algorithm.

[0012] Optionally, the plurality of decoding regions further includes a second decoding region, wherein the second decoding region is a different decoding region from the first decoding region or the second decoding region is the same decoding region in different detection cycles as the first decoding region;

[0013] The step of calculating the target position information of the rotor disk based on the two first actual position information includes:

[0014] Obtain the second position information of the rotor disk in the second decoding area;

[0015] Based on the second position information, the predicted position information of the rotor disk in the first decoding area is calculated;

[0016] Based on the predicted location information and the two location weight mapping relationships corresponding to the first decoding region, the weight coefficients corresponding to the two first actual location information are obtained respectively.

[0017] The target position information of the rotor disk is obtained based on the two first actual position information and the corresponding weighting coefficients.

[0018] Optionally, the step of calculating the predicted position information of the rotor disk in the first decoding area based on the second position information includes:

[0019] Based on the second position information, the rotational speed of the rotor disk relative to the stator disk is determined;

[0020] Based on the rotation speed, the predicted position information of the rotor disk in the first decoding area is calculated.

[0021] Optionally, in the step of determining the rotational speed of the rotor disk relative to the stator disk based on the second position information:

[0022] The rotational speed of the rotor disk relative to the stator disk is determined by a second preset algorithm, which includes a differential algorithm or a phase-locked loop algorithm.

[0023] Optionally, the following steps are included before the step of obtaining the two first actual position information of the rotor disk in the first decoding area:

[0024] When the encoder is zeroed, the detection information of the two corresponding stator disks and the position information of the rotor disk are obtained in the first decoding area of ​​the encoder.

[0025] Based on the distribution patterns of the detection information of the two sets of corresponding stator disks and the position information of the rotor disks, weight coefficients are assigned to the rotor disks on different position information to obtain the two position weight mapping relationships corresponding to the first decoding area.

[0026] The present invention also proposes a position compensation device for encoder axial runout, comprising a memory, a processor, and an encoder axial runout position compensation program stored in the memory and executable on the processor. The encoder axial runout position compensation program is configured to implement the steps of an encoder axial runout position compensation method, wherein the encoder axial runout position compensation method includes the following steps:

[0027] Obtain the two first actual position information of the rotor disk in the first decoding area;

[0028] Based on the two first actual position information, the target position information of the rotor disk is calculated.

[0029] The present invention also proposes an encoder, comprising:

[0030] The main body includes a stator disk and a rotor disk rotating relative to the stator disk. The rotor disk and the stator disk define a plurality of decoding regions. The rotor disk generates a magnetic field during its rotational stroke, allowing the stator disk to sequentially detect each of the decoding regions. The plurality of decoding regions includes a first decoding region.

[0031] An encoder axial runout position compensation device includes a memory, a processor, and an encoder axial runout position compensation program stored in the memory and executable on the processor. The encoder axial runout position compensation program is configured to implement the steps of an encoder axial runout position compensation method, wherein the encoder axial runout position compensation method includes the following steps:

[0032] Obtain the two first actual position information of the rotor disk in the first decoding area;

[0033] Based on the two first actual position information, the target position information of the rotor disk is calculated.

[0034] Optionally, the rotor disk is provided with a plurality of magnetic pole portions distributed circumferentially;

[0035] At least some of the magnetic pole portions have different dimensions.

[0036] Optionally, the magnetic sensor is a Hall sensor, and a plurality of the Hall sensors are evenly distributed along the circumference.

[0037] The present invention also proposes a storage medium storing a position compensation program for encoder axial runout. When the encoder axial runout position compensation program is executed by a processor, it implements the steps of a position compensation method for encoder axial runout, wherein the position compensation method for encoder axial runout includes the following steps:

[0038] Obtain the two first actual position information of the rotor disk in the first decoding area;

[0039] Based on the two first actual position information, the target position information of the rotor disk is calculated.

[0040] In the technical solution of the present invention, two first actual position information of the rotor disk on the first decoding area are obtained, and the target position information of the rotor disk is calculated based on the two first actual position information. This compensates for the installation error that may occur during the assembly of the encoder and the error caused by vibration during use. The target position information of the rotor disk obtained is more accurate, thereby improving the measurement accuracy of the encoder. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0042] Figure 1 This is a schematic diagram of an embodiment of the encoder provided by the present invention;

[0043] Figure 2 for Figure 1 A bottom view of the rotor disk;

[0044] Figure 3 for Figure 1 Top view of the middle stator plate;

[0045] Figure 4 A schematic diagram of the hardware operating environment for the encoder axial runout position compensation device provided by the present invention;

[0046] Figure 5 A schematic diagram of a first embodiment of the encoder axial runout position compensation method provided by the present invention;

[0047] Figure 6 A schematic diagram of a second embodiment of the encoder axial runout position compensation method provided by the present invention;

[0048] Figure 7This is a schematic diagram of a third embodiment of the encoder axial runout position compensation method provided by the present invention;

[0049] Figure 8 This is a schematic diagram of the fourth embodiment of the encoder axial runout position compensation method provided by the present invention;

[0050] Figure 9 This is a schematic diagram of the fifth embodiment of the encoder axial runout position compensation method provided by the present invention;

[0051] Figure 10 A flowchart illustrating an embodiment of the encoder axial runout position compensation method provided by the present invention;

[0052] Figure 11 A schematic diagram illustrating the weight mapping relationship between two positions on a single decoding area provided by the present invention;

[0053] Figure 12 This is a schematic diagram of a first embodiment of the present invention for calculating the target position information of the rotor disk based on the two first actual position information;

[0054] Figure 13 This is a schematic diagram of a second embodiment of the present invention for calculating the target position information of the rotor disk based on the two first actual position information.

[0055] Explanation of icon numbers:

[0056] label name label name 100 encoder 211 Hall sensor 1 Rotor disk 3 Encoder axial runout position compensation device 11 Magnetic pole section 31 processor 11a First magnetic pole section 32 Communication bus 11b Second magnetic pole section 33 User Interface 2 stator plate 34 Network interface 21 magnetic sensor 35 memory

[0057] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0058] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0059] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0060] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0061] An encoder is a device that encodes and converts signals or data into a signal form that can be used for communication, transmission, and storage. Rotary encoders, in particular, can directly convert measured angular displacement into digital signals and are widely used in automatic measurement and control systems. However, with the continuous improvement of industrial automation, increasingly higher demands are being placed on the monitoring of parameters such as rotational speed and direction. While some products possess this function, their structures are generally complex, assembly is difficult, manufacturing costs are high, and resolution is low.

[0062] To address the shortcomings of traditional encoders, the inventors proposed an encoder comprising a stator disk and a rotor disk. This encoder requires axial magnetization, and installation errors during assembly and vibrations during use can cause changes in the axial spacing between the stator disk and the rotor disk. Therefore, this invention proposes an encoder that optimizes the structure of existing encoders and improves measurement accuracy.

[0063] Please see Figures 1 to 3 The encoder 100 includes a rotor disk 1 and a stator disk 2.

[0064] The stator disk 2 is coaxially arranged with the rotor disk 1 and is located on the side of the rotor disk 1 where the magnetic pole part 11 is provided along the axial direction. The rotor disk 1 can rotate relative to the stator disk 2. The stator disk 2 is provided with a plurality of magnetic sensors 21 distributed along the circumference. The plurality of magnetic sensors 21 are used to generate sensing signals by sensing changes in the magnetic field.

[0065] When the rotor disk 1 rotates, the magnetic field of the rotor disk 1 changes, which in turn causes the magnetic field of the magnetic sensor 21 to change. The rotation angle can be obtained by measuring the magnetic sensor 21.

[0066] The magnetic sensor 21 has high sensitivity and good stability, and is easy to miniaturize and integrate, which can improve the measurement accuracy.

[0067] Furthermore, multiple magnetic pole sections 11 of different sizes are provided on the rotor disk 1. The coverage area of ​​the magnetic pole sections 11 relative to the stator disk 2 on the circumference is different. When the rotor disk 1 rotates relative to the stator disk 2, the magnetic sensor 21 measures the magnitude and direction of the magnetic field generated during the cutting of magnetic field lines and converts it into an electrical signal to calculate the relative rotation angle between the stator disk 2 and the rotor disk 1. This arrangement results in a compact structure, high efficiency, and the ability to encode the position angle.

[0068] In one embodiment, the magnetic sensor 21 is a Hall sensor 211, and multiple Hall sensors 211 are uniformly distributed circumferentially. The Hall sensor 211 is a magnetic field sensor made based on the Hall effect and is widely used in industrial automation technology, detection technology, and information processing. The Hall coefficient, determined by the Hall effect experiment, can determine important parameters such as the conductivity type, carrier concentration, and carrier mobility of semiconductor materials.

[0069] In embodiments of the present invention, the specific distribution of the magnetic pole portions 11 is not limited. In one embodiment, the plurality of magnetic pole portions 11 include a plurality of first magnetic pole portions 11a and a plurality of second magnetic pole portions 11b arranged in an alternating manner, wherein the polarities of each first magnetic pole portion 11a and each second magnetic pole portion 11b are opposite.

[0070] That is, one of the first magnetic pole portion 11a and the second magnetic pole portion 11b is an N pole and the other is an S pole. The rotor disk 1 has N poles and S poles arranged alternately on the circumference. Since some of the first magnetic pole portions 11a and the second magnetic pole portions 11b have different sizes, or some of the second magnetic pole portions 11b have different sizes, or some of the first magnetic pole portions 11a and some of the second magnetic pole portions 11b have different sizes, or all of the above exist, the N poles and S poles are unevenly distributed on the circumference of the rotor disk 1. Specifically, the magnetic sensor 21 outputs an approximately rectangular wave signal, which can accurately sense the state.

[0071] In the above embodiments, magnetization can be performed in the form of a magnetic ring or a magnetic block. Specifically, in the embodiment of magnetization using a magnetic ring, the rotor disk 1 has a magnetic ring, and a plurality of magnetic regions distributed along the circumference of the rotor disk 1 are formed on the magnetic ring to form a plurality of first magnetic pole portions 11a and a plurality of second magnetic pole portions 11b. With this configuration, only a single magnetic ring needs to be manufactured and magnetized.

[0072] In another embodiment, the rotor disk 1 has a plurality of magnetic blocks arranged circumferentially, each magnetic block forming a plurality of first magnetic pole portions 11a and a plurality of second magnetic pole portions 11b.

[0073] Multiple magnetic blocks are processed and formed separately, and then installed on the rotor disk 1 to form multiple first magnetic pole portions 11a and multiple second magnetic pole portions 11b, which simplifies the magnetization process and makes the magnetic field boundary at the junction between adjacent first magnetic pole portions 11a and second magnetic pole portions 11b obvious, reducing magnetic field distortion and making the circumferential magnetic density distribution of the rotor disk 1 better.

[0074] In one embodiment, a gap is provided between adjacent first magnetic pole portions 11a and second magnetic pole portions 11b. The spacing between the two magnetic blocks is not limited. For example, the spacing between the two magnetic blocks is relatively large, forming a large cut; the relative spacing between the two magnetic blocks is small, forming a seam, that is, the two magnetic blocks are laterally abutted together. In both of the above embodiments, the spacing between the two magnetic blocks can be adjusted according to actual needs.

[0075] In other embodiments, the plurality of magnetic pole portions 11 have the same magnetism, are spaced apart, and at least some of the magnetic pole portions 11 have different spacing. That is, the magnetic pole distribution on the entire circumference is a single magnetic pole, and the polarity of each magnetic pole portion 11 is either N or S. Compared to the method of setting two magnetic poles, it can be understood that the corresponding S or N poles are left empty, and the length of the empty position is the length of the corresponding magnetic pole portion 11. This arrangement does not affect the overall principle of position decoding by the magnetic sensor 21 and saves materials.

[0076] The number of magnetic pole sections 11 and the number of magnetic sensors 21 are not limited and can be set according to actual needs; for example, in this embodiment, the magnetic pole sections 11 are provided in 4 pairs and the magnetic sensors 21 can be set to 6.

[0077] The number of magnetic pole portions 11 and the number of magnetic sensors 21 can determine the number of decoding areas of the encoder 100; and once the positions of the multiple magnetic pole portions 11 on the rotor disk 1 and the positions of the multiple magnetic sensors 21 on the stator disk 2 are determined, the positions of the multiple decoding areas can also be uniquely and accurately determined.

[0078] When the rotor disk 1 rotates relative to the stator disk 2, the rotor disk 1 generates a magnetic field, and the sensors on the stator disk 2 sequentially sense each decoding area. For ease of understanding, the decoding areas are defined to be arranged in a sequential decoding order. In this application, two decoding areas are defined: a first decoding area and a second decoding area. The first decoding area is the decoding area located before the second decoding area, meaning that the decoding information of the second decoding area is obtained first, and then the decoding information of the second decoding area is obtained.

[0079] Specifically, the first decoding region and the second decoding region can be two adjacent decoding regions, or they can be set to be separated by several other decoding regions; they can also be set to be the same region as the first decoding region in the previous decoding cycle. The two decoding cycles can be two adjacent decoding cycles, or they can be separated by other decoding cycles in the two decoding cycles. All of the above are embodiments of the present invention.

[0080] Reference Figure 4 , Figure 4 This is a schematic diagram of the position compensation device 3 for encoder axial runout in the hardware operating environment involved in the embodiment of the present invention.

[0081] like Figure 4 As shown, the encoder axial runout position compensation device 3 may include: a processor 31, such as a central processing unit (CPU), a communication bus 32, a user interface 33, a network interface 34, and a memory 35. The processor 31 includes necessary components such as a position calculation unit, which can measure the magnitude and direction of the magnetic field generated by the rotor disk 1 using a Hall sensor 211 to calculate the relative rotation angle between the stator disk 2 and the rotor disk 1. The communication bus 32 is used to enable communication between these components. The user interface 33 may include a display screen and an input unit such as a keyboard; optionally, the user interface 33 may also include a standard wired interface or a wireless interface. The network interface 34 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 35 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk storage device. Alternatively, the memory 35 may be a storage device independent of the aforementioned processor 31.

[0082] Those skilled in the art will understand that Figure 4 The structure shown does not constitute a limitation on the position compensation device 3 for encoder axial runout, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0083] like Figure 4 As shown, the memory 35, which serves as a storage medium, may include an operating system, a network communication module, a user interface 33 module, and a position compensation program for encoder axial runout.

[0084] exist Figure 4 In the encoder axial runout position compensation device 3 shown, the network interface 34 is mainly used for data communication with the network server; the user interface 33 is mainly used for data interaction with the user; in this invention, the processor 31 and memory 35 of the encoder axial runout position compensation device 3 can be set in the encoder 100. The encoder axial runout position compensation device 3 calls the encoder axial runout position compensation program stored in the memory 35 through the processor 31 and executes the encoder axial runout position compensation method provided in this embodiment of the invention.

[0085] Based on the structure of the encoder 100 described above, specifically, the encoder 100 includes a main body and a position compensation device 3 for encoder axial runout. The main body includes a stator disk 2 and a rotor disk 1 that rotates relative to the stator disk 2. The rotor disk 1 and the stator disk 2 define a plurality of decoding areas. The rotor disk 1 generates a magnetic field during its rotation stroke so that the stator disk 2 can sequentially detect each of the decoding areas.

[0086] Reference Figure 5 , Figure 5 A schematic diagram of a first embodiment of the encoder axial runout position compensation method provided by the present invention;

[0087] Please combine Figure 10 In this embodiment, the position compensation method for encoder axial runout includes the following steps:

[0088] S10. Obtain the two first actual position information of rotor disk 1 in the first decoding area;

[0089] It is understood that when the encoder 100 starts working, the stator disk 2 obtains detection information in the first decoding area. The stator disk 2 is provided with multiple magnetic sensors 21, and each magnetic sensor 21 can obtain detection information. Corresponding to each decoding area, there will be two detection information with good linearity, which can be used as sampling information. That is, two detection channels are used to obtain two first actual position information on the first decoding area. Since there is axial runout between the stator and the rotor, the two first actual position information are distributed at intervals.

[0090] S20. Based on the two first actual position information, calculate the target position information of rotor disk 1.

[0091] It is understood that the target position information of the rotor disk 1 is located between the two first actual position information. It is possible to directly select any position between the two first actual position information as the target position information of the rotor disk 1, such as the middle position of the two first actual position information.

[0092] In other embodiments, a weighted average algorithm may also be used. Specifically, a first preset algorithm is used to calculate the target position information of the rotor disk 1. The first preset algorithm includes a weighted average algorithm, that is, a weighted average algorithm is used to assign weight coefficients to the two first position information to finally obtain accurate rotor target position information.

[0093] If a fixed weighting coefficient is chosen, such as 0.4 and 0.6, the first actual position that has a greater impact on the position is assigned 0.6, and the first actual position that has a smaller impact on the position is assigned 0.4, so that the target position information of the rotor disk 1 is biased towards the first actual position with a higher weighting coefficient. Of course, other fixed weighting coefficients can also be used.

[0094] In other embodiments, the weight coefficients can be queried based on the two first actual positions, i.e., dynamic weight coefficients can be obtained, which can more accurately obtain the target position information of the rotor disk 1.

[0095] In the technical solution of the present invention, two first actual position information of rotor disk 1 on the first decoding area are obtained. Based on the two first actual position information, the target position information of rotor disk 1 is calculated. This compensates for the installation error that may occur during the assembly of encoder 100 and the error caused by vibration during use. The obtained target position information of rotor disk 1 is more accurate, thereby improving the measurement accuracy of encoder 100.

[0096] Reference Figure 6 , Figure 6 A schematic diagram of a second embodiment of the encoder axial runout position compensation method provided by the present invention;

[0097] Please combine Figure 10 In this embodiment, step S10, obtaining the two first actual position information of rotor disk 1 in the first decoding area, specifically includes the following steps:

[0098] S101. Obtain the two first detection information of stator disk 2 in the first decoding area;

[0099] S102. Based on the two first detection information, calculate the two first actual position information of rotor disk 1 in the first decoding area respectively;

[0100] In this embodiment, the two first detection information can be directly obtained by reading the sensing data of the two magnetic sensors 21. The processor 31 in the axial runout position compensation device of the encoder 100 includes a position calculation unit. The position calculation unit is equipped with a decoding program, which can calculate each sensing detection signal to obtain the corresponding position information. Therefore, when the position calculation unit receives the two first detection information of the stator disk 2 in the first decoding area, it can calculate the first detection signal to obtain the two first actual position information of the rotor disk 1 in the first decoding area.

[0101] Reference Figure 7 , Figure 7 This is a schematic diagram of a third embodiment of the encoder axial runout position compensation method provided by the present invention;

[0102] Please combine Figure 10 In this embodiment, step S20, calculating the target position information of rotor disk 1 based on the two first actual position information, specifically includes the following steps:

[0103] S201. Obtain the second position information of the rotor disk 1 in the second decoding area;

[0104] S202. Based on the second position information, calculate the predicted position information of rotor disk 1 in the first decoding area;

[0105] S203. Based on the predicted location information and the two location weight mapping relationships corresponding to the first decoding region, obtain the weight coefficients corresponding to the two first actual location information respectively;

[0106] S204. Obtain the target position information of rotor disk 1 based on the two first actual position information and the corresponding weighting coefficient;

[0107] In this embodiment, the second position information of the rotor disk 1 in the second decoding area is obtained. Based on the second position information, the predicted position information of the rotor disk 1 in the first decoding area is calculated. Based on the predicted position information and the two position weight mapping relationships corresponding to the first decoding area, the weight coefficients corresponding to the two first actual position information are obtained respectively. Based on the two first actual position information and the corresponding weight coefficients, the target position information of the rotor disk 1 is obtained. That is, based on the predicted position information, dynamic weight coefficients are obtained, and weight coefficients are allocated more accurately. This compensates for the installation errors that may occur during the assembly of the encoder 100 and the errors caused by vibrations during use. The obtained target position information of the rotor disk 1 is more accurate, thereby improving the measurement accuracy of the encoder 100.

[0108] Reference Figure 8 , Figure 8 This is a schematic diagram of the fourth embodiment of the encoder axial runout position compensation method provided by the present invention;

[0109] Please combine Figure 10 In this embodiment, step S202, calculating the predicted position information of rotor disk 1 in the first decoding area based on the second position information, specifically includes the following steps:

[0110] S2021. Determine the rotational speed of the rotor disk 1 relative to the stator disk 2 based on the second position information;

[0111] S2022. Based on the rotation speed, calculate the predicted position information of the rotor disk 1 in the first decoding area;

[0112] In this embodiment, since the relative positional relationship of each decoding area is determined, the rotational speed of the rotor disk 1 relative to the stator disk 2 can be estimated based on the second positional information; and the predicted positional information of the rotor disk 1 in the first decoding area can be further calculated based on the rotational speed.

[0113] It is understood that the rotational speed of the rotor disk 1 relative to the stator disk 2 is determined using a second preset algorithm. This second preset algorithm includes either a differential algorithm or a phase-locked loop (PLL) algorithm. Both the differential algorithm and the PLL algorithm are mature technologies and will not be elaborated upon here. Of course, other technologies can also be applied to calculate the rotational angle of the rotor disk 1 relative to the stator disk 2 using position information; these will also not be detailed here. The axial runout position compensation device of the encoder 100 is pre-compiled with the differential algorithm and / or the PLL algorithm. After receiving the second position information, the axial runout position compensation device of the encoder 100 can directly obtain the rotational speed of the rotor disk 1 relative to the stator disk 2.

[0114] Reference Figure 9 , Figure 9 This is a schematic diagram of the fifth embodiment of the encoder axial runout position compensation method provided by the present invention;

[0115] Please combine Figure 10 as well as Figure 11 In this embodiment, before step S10, which involves obtaining the two first actual position information of the rotor disk 1 in the first decoding area, the following steps are specifically included:

[0116] S301. When the encoder 100 is zeroed, the detection information of the two corresponding stator disks 2 and the position information of the rotor disk 1 on the first decoding area of ​​the encoder 100 are obtained.

[0117] S302. Based on the distribution pattern of the detection information of the two sets of corresponding stator disks 2 and the position information of rotor disks 1, assign weight coefficients to rotor disks 1 on different position information to obtain two position weight mapping relationships corresponding to the first decoding area.

[0118] In this embodiment, when the encoder 100 is zeroed, the detection information of two sets of corresponding stator disks 2 and the position information of rotor disk 1 on the first decoding area of ​​the encoder 100 are acquired. According to the distribution pattern of the detection information of the two sets of corresponding stator disks 2 and the position information of rotor disk 1, weight coefficients are assigned to rotor disk 1 on different position information to obtain two position weight mapping relationships corresponding to the first decoding area. When the predicted position information corresponding to the first decoding area is obtained, the corresponding weight coefficient can be obtained in the two position weight mapping relationships, and the weight coefficient is allocated more accurately. This compensates for the installation error that may occur during the assembly of the encoder 100 and the error caused by the vibration generated during use. The target position information of rotor disk 1 obtained is more accurate, thereby improving the measurement accuracy of the encoder 100.

[0119] The following combination Figures 10 to 13 The detection process of the encoder axial runout position compensation method provided by this invention is described in detail:

[0120] The stator disk 2 and the rotor disk 1 rotate relative to each other. The rotor disk 1 generates a magnetic field during its rotation stroke, so that the stator disk 2 can detect each of the decoding areas in sequence.

[0121] 1. Please refer to Figure 12 as well as Figure 13 When the encoder 100 is zeroed, the detection information of two corresponding stator disks 2 and the position information of rotor disk 1 in the first decoding area of ​​the encoder 100 are acquired. For example, by acquiring continuous data, the continuous data is fitted into two solid lines as shown in the figure. For different decoding areas, the implementation of the above two fittings may have different slope directions. For example, in Figure 12 In the example, the slopes of the solid lines fitted to the continuous data from the two channels are opposite, such as... Figure 13 In the model, the slopes of the solid lines fitted to the continuous data from both channels are the same.

[0122] Based on the distribution patterns of the detection information of the two sets of corresponding stator disks 2 and the position information of rotor disks 1, weight coefficients are assigned to rotor disks 1 at different position information to obtain the two position weight mapping relationships corresponding to the first decoding area, such as... Figure 11The two curves q1 and q2 mentioned above can be either a stepped linear relationship or a higher-order relationship, and the above relationships are all stored in the encoder axial runout position compensation device 3.

[0123] 2. Obtain the second position information of the rotor disk 1 in the second decoding area;

[0124] 3. Determine the rotational speed of the rotor disk 1 relative to the stator disk 2 based on the second position information;

[0125] 4. Based on the rotation speed, calculate the predicted position information of the rotor disk 1 in the first decoding area;

[0126] 5. Based on the predicted location information and the two location weight mapping relationships corresponding to the first decoding region, obtain the weight coefficients corresponding to the two first actual location information; that is, refer to... Figure 11 After obtaining the predicted location information, in the Figure 11 The two intersections of the vertical lines perpendicular to the horizontal axis with curves q1 and q2 are the two weighting coefficients.

[0127] 6. Obtain the target position information of rotor disk 1 based on the two first actual position information and the corresponding weighting coefficients, i.e., respectively Figure 12 as well as Figure 13 The two target locations.

[0128] The above description is merely an optional embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A method of position compensation for encoder axial runout, characterized by, The encoder comprises a stator disc and a rotor disc rotating relative to the stator disc, the rotor disc and the stator disc defining a plurality of decoding areas, the rotor disc generating a magnetic field in its rotating stroke for the stator disc to detect each decoding area in turn, the plurality of decoding areas comprising a first decoding area; the axial runout position compensation method of the encoder comprises the following steps: acquiring two first actual position information of the rotor disc on the first decoding area; calculating target position information of the rotor disc according to the two first actual position information; in the step of calculating target position information of the rotor disc according to the two first actual position information: a first preset algorithm is used to calculate the target position information of the rotor disc, and the first preset algorithm comprises a weighted average algorithm.

2. The method of position compensation for encoder axial runout as recited in claim 1, wherein, the step of acquiring two first actual position information of the rotor disc on the first decoding area comprises: acquiring two first detection information of the stator disc on the first decoding area; calculating two first actual position information of the rotor disc on the first decoding area according to the two first detection information, respectively.

3. The method of position compensation for encoder axial runout as recited in claim 1, wherein, the plurality of decoding areas further comprise a second decoding area, and the second decoding area is a different decoding area from the first decoding area or the second decoding area is the same decoding area as the first decoding area in different detection periods; the step of calculating target position information of the rotor disc according to the two first actual position information comprises: acquiring second position information of the rotor disc on the second decoding area; calculating predicted position information of the rotor disc on the first decoding area according to the second position information; acquiring weight coefficients corresponding to the two first actual position information according to the predicted position information and two position weight mapping relationships corresponding to the first decoding area, respectively; obtaining target position information of the rotor disc according to the two first actual position information and the corresponding weight coefficients.

4. The method of position compensation for encoder axial runout as recited in claim 3, wherein, the step of calculating predicted position information of the rotor disc on the first decoding area according to the second position information comprises: determining the rotating speed of the rotor disc relative to the stator disc according to the second position information; calculating the predicted position information of the rotor disc on the first decoding area according to the rotating speed.

5. The method of position compensation for encoder axial runout as recited in claim 4, wherein, in the step of determining the rotating speed of the rotor disc relative to the stator disc according to the second position information: a second preset algorithm is used to determine the rotating speed of the rotor disc relative to the stator disc, and the second preset algorithm comprises a differential algorithm or a phase-locked loop algorithm.

6. The method of position compensation for encoder axial runout as recited in claim 3, wherein, the method further comprises the following steps before the step of acquiring two first actual position information of the rotor disc on the first decoding area: when the encoder is zeroed, acquiring two sets of detection information of the stator disc corresponding to the rotor disc and position information of the rotor disc on the first decoding area; according to the distribution rules of the two sets of detection information of the stator disc corresponding to the rotor disc and the position information of the rotor disc, weight coefficients of the rotor disc at different position information are respectively given to obtain two position weight mapping relationships corresponding to the first decoding area, respectively.

7. A position compensation device for axial run-out of an encoder shaft, characterized by An encoder axial run-out position compensation device comprising a memory, a processor, and an encoder axial run-out position compensation program stored on the memory and executable on the processor, the encoder axial run-out position compensation program configured to implement the steps of the encoder axial run-out position compensation method of any one of claims 1 to 6.

8. An encoder, comprising: An encoder axial run-out position compensation device comprising: a main body comprising a stator disc and a rotor disc rotating relative to the stator disc, the rotor disc and the stator disc defining a plurality of decoding regions, the rotor disc generating a magnetic field in its rotation stroke for the stator disc to sequentially detect each of the decoding regions, the plurality of decoding regions comprising a first decoding region; and The encoder axial run-out position compensation device of claim 7.

9. The encoder of claim 8, wherein, The rotor disc is provided with a plurality of magnetic pole portions distributed circumferentially. At least some of the magnetic pole portions are of different sizes.

10. The encoder of claim 9, wherein, The stator disc is provided with a plurality of magnetic sensors for generating sensing signals by sensing magnetic field changes, the magnetic sensors being Hall sensors, the plurality of Hall sensors being uniformly distributed circumferentially.

11. A storage medium, characterized by The storage medium stores an encoder axial run-out position compensation program, the encoder axial run-out position compensation program being executable by a processor to implement the steps of the encoder axial run-out position compensation method of any one of claims 1 to 6.

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