Incremental encoder output signal analysis method and apparatus

Abstract

This invention provides a method and apparatus for analyzing incremental encoder output signals. The method includes: acquiring a first set of pulse signals and a second set of pulse signals from the incremental encoder output signal, wherein the first set of pulse signals includes amplitude, phase difference, and clutter; simulating and reproducing a Lissajous image fitted by the first and second sets of pulse signals to obtain the roundness of a standard circle; calculating a corrected Lissajous image to obtain the corrected roundness; comparing the corrected roundness with the roundness of the standard circle to confirm the failure weight of the Lissajous image; the corrected roundness includes a first corrected roundness, a second corrected roundness, and a third corrected roundness, which are calculated using clutter, amplitude, and phase difference, respectively. The incremental encoder output signal analysis method and apparatus provided by this invention improves the accuracy of the detection signal by comparing the corrected roundness with the roundness of the standard circle to confirm the failure weight of the Lissajous image.

Description

Technical Field

[0001] This invention relates to the field of optoelectronic testing technology, and in particular to a method and apparatus for analyzing the output signal of an incremental encoder. Background Technology

[0002] An incremental encoder is mainly a sensor composed of a light-emitting module and a photosensitive module. It converts the mechanical geometric displacement on the output shaft into pulses or digital quantities through the rotation of the code disk. The incremental encoder uses the photoelectric conversion principle to output three sets of sinusoidal pulses, A, B and Z phases. The A and B pulses are 90° out of phase, which makes it easy to determine the direction of rotation. The Z phase is one pulse per revolution and is used for reference point positioning.

[0003] The two sets of pulse signals, A and B, require very high precision in terms of phase and amplitude difference. Under normal output conditions, the two sets of pulse signals, A and B, can be fitted into a standard circular Lissajous image. However, when the signal is affected by external or internal interference signals, its output signal will deviate from the standard circular image.

[0004] Patent application CN201780065039.3, entitled "Pulsation Conversion Device and Pulsation Conversion Method for Incremental Encoder," discloses a pulse conversion device for an incremental encoder, comprising: a position signal generation unit that generates four periodic position signals, each 90 degrees out of phase, corresponding to the position or angular displacement of a moving body, using the phase of one periodic position signal as a reference phase; an origin detection signal generation unit that generates an origin detection signal with a detection width greater than or equal to 0.5 times but less than 1.5 times the period of the four periodic position signals when the displacement position of the moving body reaches the reference position; and a polarity switching unit that selectively converts each of the four periodic position signals... The polarity switching of the signal; a first synthesis circuit and a second synthesis circuit, which generate differential signals, i.e., periodic position signals, of the two periodic position signals output from the polarity switching unit that are 180 degrees out of phase with each other; an interpolation segmentation unit, which generates a pulse position signal with a set resolution based on the two differential signals, i.e., the periodic position signals, which are 90 degrees out of phase with each other from the first synthesis circuit and the second synthesis circuit; and an origin signal generation unit, which generates a pulse origin signal in sync with the pulse position signal based on a predetermined phase position of the two differential signals, i.e., the periodic position signals, which are 90 degrees out of phase with each other during the period when the origin detection signal is detected.

[0005] However, the technical solutions disclosed in the aforementioned invention patents are too complex and require a considerable amount of time to test.

[0006] Therefore, it is necessary to provide an incremental encoder output signal analysis method and apparatus to effectively solve the above problems. Summary of the Invention

[0007] This invention provides an incremental encoder output signal analysis method and apparatus. By comparing the corrected roundness with the roundness of the standard circle, the Lissajous image failure weight is confirmed, thereby improving the accuracy of the detection signal.

[0008] This invention provides a method for analyzing the output signal of an incremental encoder, comprising the following steps:

[0009] Acquire a first group of pulse signals and a second group of pulse signals from the output signal of the incremental encoder. The first group of pulse signals includes a first amplitude and a first clutter, and the second group of pulse signals includes a second amplitude and a second clutter. There is a phase difference between the first group of pulse signals and the second group of pulse signals.

[0010] The roundness of the standard circle is obtained by simulating and reproducing the Lissajous image fitted by the first group of pulse signals and the second group of pulse signals;

[0011] The corrected Lissajous image is calculated to obtain the corrected roundness. The corrected roundness is compared with the roundness of the standard circle to confirm the failure weight of the Lissajous image. The corrected roundness includes a first corrected roundness, a second corrected roundness, and a third corrected roundness. The first corrected roundness is calculated based on the first clutter and the second clutter. The second corrected roundness is calculated based on the first amplitude and the second amplitude. The third corrected roundness is calculated based on the phase difference.

[0012] The Lissajous image is plotted on a two-dimensional coordinate system based on the first set of pulse signals and the second set of pulse signals, and is specifically calculated using the following formula:

[0013]

[0014]

[0015] Where X represents the X-axis of the coordinate system, A1 represents the first amplitude, and ω1t represents the first period. A1 represents the first phase difference, Y represents the Y-axis of the coordinate system, A2 represents the second amplitude, and ω2t represents the second period. This indicates the second phase difference.

[0016] Preferably, the calculation of the first corrected roundness based on the first clutter and the second clutter specifically includes:

[0017] When the amplitude of the first clutter exceeds 0.2% of the main harmonic, it is considered that the first clutter has caused interference, and the first clutter is filtered out.

[0018] When the amplitude of the second clutter exceeds 0.2% of the main harmonic, it is considered that the second clutter has caused interference, and the second clutter is filtered out.

[0019] Preferably, the calculation of the second corrected roundness based on the first amplitude and the second amplitude specifically includes:

[0020] The first peak-to-valley value and the second peak-to-valley value of the first group of pulse signals and the second group of pulse signals are calculated based on the sine and cosine waves of the first group of pulse signals and the second group of pulse signals, respectively, using the following formulas:

[0021]

[0022] Wherein, α represents the amplitude relationship between the first group of pulse signals and the second group of pulse signals. This represents the first peak-to-valley value. This represents the second peak-to-valley value;

[0023] The first standard peak-valley value is obtained based on the first peak-valley value, specifically calculated using the following formula;

[0024]

[0025] in, This represents the first standard peak-valley value. R1 represents the first peak-valley value, R1 represents the first offset of the first group of pulse signals, and л1 represents the proportion of the influence of the first offset on the first group of pulse signals.

[0026] The second standard peak-valley value is obtained based on the second peak-valley value, specifically calculated using the following formula:

[0027]

[0028] in, Indicates the second standard peak-to-valley value. R2 represents the second peak-to-valley value, R2 represents the second offset of the second group of pulse signals, and π2 represents the proportion of the influence of the second offset on the second group of pulse signals.

[0029] Preferably, the calculation of the third corrected roundness based on the phase difference specifically includes:

[0030] The first group of pulse signals and the second group of pulse signals are differentially divided to obtain the third group of pulse signals and the fourth group of pulse signals. The peak and valley values ​​of the first group of pulse signals and the second group of pulse signals correspond to the zero values ​​of the third group of pulse signals and the fourth group of pulse signals, respectively. The phase difference between the first group of pulse signals and the second group of pulse signals is calculated based on the zero values.

[0031] Preferably, the comparison between the corrected roundness and the roundness of the standard circle to determine the Lissajous image failure weight is specifically calculated using the following formula:

[0032]

[0033] Where n represents the Lissajous image failure weight, M n M represents the corrected roundness, and M represents the roundness of the standard circle.

[0034] This invention also provides an incremental encoder output signal analysis device, comprising:

[0035] The pulse signal acquisition module is used to acquire a first set of pulse signals and a second set of pulse signals in the output signal of the incremental encoder. The first set of pulse signals includes a first amplitude and a first clutter, and the second set of pulse signals includes a second amplitude and a second clutter. There is a phase difference between the first set of pulse signals and the second set of pulse signals.

[0036] The simulation reproduction module is used to simulate and reproduce the Lissajous image fitted by the first group of pulse signals and the second group of pulse signals to obtain the roundness of the standard circle;

[0037] The calculation correction module is used to calculate the corrected Lissajous image, obtain the corrected roundness, compare the corrected roundness with the roundness of the standard circle, and confirm the failure weight of the Lissajous image; the corrected roundness includes a first corrected roundness, a second corrected roundness, and a third corrected roundness, the first corrected roundness is calculated based on the first clutter and the second clutter, the second corrected roundness is calculated based on the first amplitude and the second amplitude, and the third corrected roundness is calculated based on the phase difference;

[0038] The Lissajous image is plotted on a two-dimensional coordinate system based on the first set of pulse signals and the second set of pulse signals, and is specifically calculated using the following formula:

[0039]

[0040]

[0041] Where X represents the X-axis of the coordinate system, A1 represents the first amplitude, and ω1t represents the first period. A1 represents the first phase difference, Y represents the Y-axis of the coordinate system, A2 represents the second amplitude, and ω2t represents the second period. This indicates the second phase difference.

[0042] Preferably, the calculation of the first corrected roundness based on the first clutter and the second clutter specifically includes:

[0043] When the amplitude of the first clutter exceeds 0.2% of the main harmonic, it is considered that the first clutter has caused interference, and the first clutter is filtered out.

[0044] When the amplitude of the second clutter exceeds 0.2% of the main harmonic, it is considered that the second clutter has caused interference, and the second clutter is filtered out.

[0045] Preferably, the calculation of the second corrected roundness based on the first amplitude and the second amplitude specifically includes:

[0046] The first peak-to-valley value and the second peak-to-valley value of the first group of pulse signals and the second group of pulse signals are calculated based on the sine and cosine waves of the first group of pulse signals and the second group of pulse signals, respectively, using the following formulas:

[0047]

[0048] Wherein, α represents the amplitude relationship between the first group of pulse signals and the second group of pulse signals. This represents the first peak-to-valley value. This represents the second peak-to-valley value;

[0049] The first standard peak-valley value is obtained based on the first peak-valley value, specifically calculated using the following formula;

[0050]

[0051] in, This represents the first standard peak-valley value. R1 represents the first peak-valley value, R1 represents the first offset of the first group of pulse signals, and л1 represents the proportion of the influence of the first offset on the first group of pulse signals.

[0052] The second standard peak-valley value is obtained based on the second peak-valley value, specifically calculated using the following formula:

[0053]

[0054] in, Indicates the second standard peak-to-valley value. R2 represents the second peak-to-valley value, R2 represents the second offset of the second group of pulse signals, and π2 represents the proportion of the influence of the second offset on the second group of pulse signals.

[0055] Preferably, the calculation of the third corrected roundness based on the phase difference specifically includes:

[0056] The first group of pulse signals and the second group of pulse signals are differentially divided to obtain the third group of pulse signals and the fourth group of pulse signals. The peak and valley values ​​of the first group of pulse signals and the second group of pulse signals correspond to the zero values ​​of the third group of pulse signals and the fourth group of pulse signals, respectively. The phase difference between the first group of pulse signals and the second group of pulse signals is calculated based on the zero values.

[0057] Preferably, the comparison between the corrected roundness and the roundness of the standard circle to determine the Lissajous image failure weight is specifically calculated using the following formula:

[0058]

[0059] Where n represents the Lissajous image failure weight, M n M represents the corrected roundness, and M represents the roundness of the standard circle.

[0060] Compared with the prior art, the technical solution of the embodiments of the present invention has the following beneficial effects:

[0061] This invention provides an incremental encoder output signal analysis method and apparatus. The method includes: acquiring a first set of pulse signals and a second set of pulse signals from the incremental encoder output signal, wherein the first set of pulse signals includes amplitude, phase difference, and clutter; simulating and reproducing a Lissajous image fitted by the first set of pulse signals and the second set of pulse signals to obtain the roundness of a standard circle; calculating a corrected Lissajous image to obtain a corrected roundness; comparing the corrected roundness with the roundness of the standard circle to confirm the failure weight of the Lissajous image; the corrected roundness includes a first corrected roundness, a second corrected roundness, and a third corrected roundness, which are calculated using clutter, amplitude, and phase difference, respectively; and comparing the corrected roundness with the roundness of the standard circle to confirm the failure weight of the Lissajous image, thereby improving the accuracy of the detection signal. Attached Figure Description

[0062] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention, but not all embodiments. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0063] Figure 1 A flowchart illustrating an incremental encoder output signal analysis method according to an embodiment of the present invention;

[0064] Figure 2 A schematic diagram of an incremental encoder output signal analysis device provided in one embodiment of the present invention. Detailed Implementation

[0065] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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 some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0066] The technical solution of the present invention will be described in detail below with reference to specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0067] To address the problems existing in the prior art, this invention provides an incremental encoder output signal analysis method and apparatus. By comparing the corrected roundness with the roundness of the standard circle, the Lissajous image failure weight is confirmed, thereby improving the accuracy of the detection signal.

[0068] Figure 1 A flowchart illustrating an incremental encoder output signal analysis method according to an embodiment of the present invention is now provided. Figure 1 This invention provides a method for analyzing the output signal of an incremental encoder, comprising the following steps:

[0069] Step S101: Obtain the first group of pulse signals and the second group of pulse signals in the output signal of the incremental encoder. The first group of pulse signals includes a first amplitude and a first noise, and the second group of pulse signals includes a second amplitude and a second noise. There is a phase difference between the first group of pulse signals and the second group of pulse signals.

[0070] Step S102: Simulate and reproduce the Lissajous image fitted by the first group of pulse signals and the second group of pulse signals to obtain the roundness of the standard circle;

[0071] Step S103: Calculate the corrected Lissajous image to obtain the corrected roundness. Compare the corrected roundness with the roundness of the standard circle to confirm the failure weight of the Lissajous image. The corrected roundness includes a first corrected roundness, a second corrected roundness, and a third corrected roundness. The first corrected roundness is calculated based on the first clutter and the second clutter. The second corrected roundness is calculated based on the first amplitude and the second amplitude. The third corrected roundness is calculated based on the phase difference.

[0072] The Lissajous image is plotted on a two-dimensional coordinate system based on the first set of pulse signals and the second set of pulse signals, and is specifically calculated using the following formula:

[0073]

[0074]

[0075] Where X represents the X-axis of the coordinate system, A1 represents the first amplitude, and ω1t represents the first period. A1 represents the first phase difference, Y represents the Y-axis of the coordinate system, A2 represents the second amplitude, and ω2t represents the second period. This indicates the second phase difference.

[0076] In some embodiments, the calculation of the first corrected roundness based on the first clutter and the second clutter specifically includes:

[0077] When the amplitude of the first clutter exceeds 0.2% of the main harmonic, it is considered that the first clutter has caused interference, and the first clutter is filtered out.

[0078] When the amplitude of the second clutter exceeds 0.2% of the main harmonic, it is considered that the second clutter has caused interference, and the second clutter is filtered out.

[0079] In some embodiments, the calculation of the second corrected roundness based on the first amplitude and the second amplitude specifically includes:

[0080] The first peak-to-valley value and the second peak-to-valley value of the first group of pulse signals and the second group of pulse signals are calculated based on the sine and cosine waves of the first group of pulse signals and the second group of pulse signals, respectively, using the following formulas:

[0081]

[0082] Wherein, α represents the amplitude relationship between the first group of pulse signals and the second group of pulse signals. This represents the first peak-to-valley value. This represents the second peak-to-valley value;

[0083] The first standard peak-valley value is obtained based on the first peak-valley value, specifically calculated using the following formula;

[0084]

[0085] in, This represents the first standard peak-valley value. R1 represents the first peak-valley value, R1 represents the first offset of the first group of pulse signals, and л1 represents the proportion of the influence of the first offset on the first group of pulse signals.

[0086] The second standard peak-valley value is obtained based on the second peak-valley value, specifically calculated using the following formula:

[0087]

[0088] in, Indicates the second standard peak-to-valley value. R2 represents the second peak-to-valley value, R2 represents the second offset of the second group of pulse signals, and π2 represents the proportion of the influence of the second offset on the second group of pulse signals.

[0089] In some embodiments, the calculation of the third corrected roundness based on the phase difference specifically includes:

[0090] The first group of pulse signals and the second group of pulse signals are differentially divided to obtain the third group of pulse signals and the fourth group of pulse signals. The peak and valley values ​​of the first group of pulse signals and the second group of pulse signals correspond to the zero values ​​of the third group of pulse signals and the fourth group of pulse signals, respectively. The phase difference between the first group of pulse signals and the second group of pulse signals is calculated based on the zero values.

[0091] In some embodiments, the comparison between the corrected roundness and the roundness of the standard circle to confirm the Lissajous image failure weight is specifically calculated using the following formula:

[0092]

[0093] Where n represents the Lissajous image failure weight, M n M represents the corrected roundness, and M represents the roundness of the standard circle.

[0094] Figure 2A schematic diagram of an incremental encoder output signal analysis device provided according to an embodiment of the present invention is now shown. Figure 2 This invention also provides an incremental encoder output signal analysis device, comprising:

[0095] The pulse signal acquisition module 21 is used to acquire a first set of pulse signals and a second set of pulse signals in the output signal of the incremental encoder. The first set of pulse signals includes a first amplitude and a first clutter, and the second set of pulse signals includes a second amplitude and a second clutter. There is a phase difference between the first set of pulse signals and the second set of pulse signals.

[0096] The simulation reproduction module 22 is used to simulate and reproduce the Lissajous image fitted by the first group of pulse signals and the second group of pulse signals to obtain the roundness of the standard circle;

[0097] The calculation correction module 23 is used to calculate the corrected Lissajous image, obtain the corrected roundness, compare the corrected roundness with the roundness of the standard circle, and confirm the failure weight of the Lissajous image; the corrected roundness includes a first corrected roundness, a second corrected roundness, and a third corrected roundness, the first corrected roundness is calculated based on the first clutter and the second clutter, the second corrected roundness is calculated based on the first amplitude and the second amplitude, and the third corrected roundness is calculated based on the phase difference;

[0098] The Lissajous image is plotted on a two-dimensional coordinate system based on the first set of pulse signals and the second set of pulse signals, and is specifically calculated using the following formula:

[0099]

[0100]

[0101] Where X represents the X-axis of the coordinate system, A1 represents the first amplitude, and ω1t represents the first period. A1 represents the first phase difference, Y represents the Y-axis of the coordinate system, A2 represents the second amplitude, and ω2t represents the second period. This indicates the second phase difference.

[0102] In some embodiments, the calculation of the first corrected roundness based on the first clutter and the second clutter specifically includes:

[0103] When the amplitude of the first clutter exceeds 0.2% of the main harmonic, it is considered that the first clutter has caused interference, and the first clutter is filtered out.

[0104] When the amplitude of the second clutter exceeds 0.2% of the main harmonic, it is considered that the second clutter has caused interference, and the second clutter is filtered out.

[0105] In some embodiments, the calculation of the second corrected roundness based on the first amplitude and the second amplitude specifically includes:

[0106] The first peak-to-valley value and the second peak-to-valley value of the first group of pulse signals and the second group of pulse signals are calculated based on the sine and cosine waves of the first group of pulse signals and the second group of pulse signals, respectively, using the following formulas:

[0107]

[0108] Wherein, α represents the amplitude relationship between the first group of pulse signals and the second group of pulse signals. This represents the first peak-to-valley value. This represents the second peak-to-valley value;

[0109] The first standard peak-valley value is obtained based on the first peak-valley value, specifically calculated using the following formula;

[0110]

[0111] in, This represents the first standard peak-valley value. R1 represents the first peak-valley value, R1 represents the first offset of the first group of pulse signals, and л1 represents the proportion of the influence of the first offset on the first group of pulse signals.

[0112] The second standard peak-valley value is obtained based on the second peak-valley value, specifically calculated using the following formula:

[0113]

[0114] in, Indicates the second standard peak-to-valley value. R2 represents the second peak-to-valley value, R2 represents the second offset of the second group of pulse signals, and π2 represents the proportion of the influence of the second offset on the second group of pulse signals.

[0115] Specifically, the first offset R1 is calculated using the following formula:

[0116]

[0117] Where M1 represents the lateral displacement of the first group of pulse signals, and N1 represents the longitudinal displacement of the first group of pulse signals.

[0118] Specifically, the second offset R2 is calculated using the following formula:

[0119]

[0120] Where M2 represents the lateral displacement of the second group of pulse signals, and N2 represents the longitudinal displacement of the second group of pulse signals.

[0121] In some embodiments, the calculation of the third corrected roundness based on the phase difference specifically includes:

[0122] The first group of pulse signals and the second group of pulse signals are differentially divided to obtain the third group of pulse signals and the fourth group of pulse signals. The peak and valley values ​​of the first group of pulse signals and the second group of pulse signals correspond to the zero values ​​of the third group of pulse signals and the fourth group of pulse signals, respectively. The phase difference between the first group of pulse signals and the second group of pulse signals is calculated based on the zero values.

[0123] In some embodiments, the comparison between the corrected roundness and the roundness of the standard circle to confirm the Lissajous image failure weight is specifically calculated using the following formula:

[0124]

[0125] Where n represents the Lissajous image failure weight, M n M represents the corrected roundness, and M represents the roundness of the standard circle.

[0126] In summary, the present invention provides an incremental encoder output signal analysis method and apparatus. The method includes: acquiring a first set of pulse signals and a second set of pulse signals from the incremental encoder output signal, wherein the first set of pulse signals includes amplitude, phase difference, and clutter; simulating and reproducing a Lissajous image fitted by the first set of pulse signals and the second set of pulse signals to obtain the roundness of a standard circle; calculating a corrected Lissajous image to obtain a corrected roundness; comparing the corrected roundness with the roundness of the standard circle to confirm the failure weight of the Lissajous image; the corrected roundness includes a first corrected roundness, a second corrected roundness, and a third corrected roundness, which are calculated using clutter, amplitude, and phase difference, respectively; and comparing the corrected roundness with the roundness of the standard circle to confirm the failure weight of the Lissajous image, thereby improving the accuracy of the detection signal.

[0127] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for analyzing the output signal of an incremental encoder, characterized in that It includes the following steps: Obtain the first group of pulse signals and the second group of pulse signals in the output signal of the incremental encoder. The first group of pulse signals includes a first amplitude and a first clutter, and the second group of pulse signals includes a second amplitude and a second clutter. There is a phase difference between the first group of pulse signals and the second group of pulse signals; Simulate and reproduce the Lissajous figure fitted by the first group of pulse signals and the second group of pulse signals to obtain the roundness of a standard circle; Calculate the corrected Lissajous figure to obtain the corrected roundness; The corrected roundness includes the first corrected roundness, the second corrected roundness, and the third corrected roundness. The first corrected roundness is calculated based on the first clutter and the second clutter, the second corrected roundness is calculated based on the first amplitude and the second amplitude, and the third corrected roundness is calculated based on the phase difference. Compare the first corrected roundness, the second corrected roundness, and the third corrected roundness with the roundness of the standard circle respectively to confirm the failure weight of the Lissajous figure; The Lissajous figure is drawn on a two-dimensional coordinate system according to the first group of pulse signals and the second group of pulse signals, and is specifically calculated by the following formula: Among them, represents the X-axis of the coordinate system, represents the first amplitude, represents the first period, represents the first phase difference, represents the Y-axis of the coordinate system, represents the second amplitude, represents the second period, represents the second phase difference; The specific calculation of the second corrected roundness based on the first amplitude and the second amplitude includes: Calculate the first peak-to-valley value and the second peak-to-valley value of the first group of pulse signals and the second group of pulse signals respectively according to the sine and cosine waves of the first group of pulse signals and the second group of pulse signals, and is specifically calculated by the following formula: Among them, represents the amplitude relationship between the first group of pulse signals and the second group of pulse signals, represents the first peak-to-valley value, represents the second peak-to-valley value; Obtain the first standard peak-to-valley value according to the first peak-to-valley value, and is specifically calculated by the following formula; Among them, represents the first standard peak-valley value, represents the first peak-valley value, represents the first offset of the first group of pulse signals, represents the influence ratio of the first offset on the first group of pulse signals; Obtain the second standard peak-to-valley value according to the second peak-to-valley value, and is specifically calculated by the following formula: Among them, represents the second standard peak-to-valley value, represents the first peak-to-valley value, represents the second offset of the second group of pulse signals, represents the influence ratio of the second offset on the second group of pulse signals.

2. The method for analyzing the output signal of an incremental encoder according to claim 1, wherein The specific calculation of the first corrected roundness based on the first clutter and the second clutter includes: When the amplitude of the first clutter in the main harmonic exceeds 0.2%, it is considered that the first clutter generates interference, and the first clutter is screened out; When the amplitude of the second clutter in the main harmonic exceeds 0.2%, it is considered that the second clutter generates interference, and the second clutter is screened out.

3. The method for analyzing the output signal of an incremental encoder according to claim 1, wherein The specific calculation of the third corrected roundness based on the phase difference includes: After taking the difference of the first group of pulse signals and the second group of pulse signals respectively, obtain the third group of pulse signals and the fourth group of pulse signals. The peak-to-valley values of the first group of pulse signals and the second group of pulse signals respectively correspond to the zero values of the third group of pulse signals and the fourth group of pulse signals, and calculate the phase difference between the first group of pulse signals and the second group of pulse signals according to the zero values.

4. The method for analyzing the output signal of an incremental encoder according to claim 1, wherein The specific calculation of comparing the corrected roundness with the roundness of the standard circle to confirm the failure weight of the Lissajous figure is carried out by the following formula: Among them, represents the failure weight of the Lissajous figure, represents the corrected roundness, represents the roundness of the standard circle.

5. An incremental encoder output signal analysis device, characterized in that It includes: A pulse signal acquisition module, which is used to acquire a first group of pulse signals and a second group of pulse signals in the output signal of an incremental encoder. The first group of pulse signals includes a first amplitude and a first clutter, and the second group of pulse signals includes a second amplitude and a second clutter. There is a phase difference between the first group of pulse signals and the second group of pulse signals; An analog reproduction module, which is used to analogically reproduce the Lissajous figure fitted by the first group of pulse signals and the second group of pulse signals to obtain the roundness of a standard circle; A calculation and correction module, which is used to calculate the corrected Lissajous figure to obtain the corrected roundness; The corrected roundness includes a first corrected roundness, a second corrected roundness, and a third corrected roundness. The first corrected roundness is calculated based on the first clutter and the second clutter, the second corrected roundness is calculated based on the first amplitude and the second amplitude, and the third corrected roundness is calculated based on the phase difference; Compare the first corrected roundness, the second corrected roundness, and the third corrected roundness with the roundness of the standard circle respectively to confirm the failure weight of the Lissajous figure; The Lissajous figure is drawn on a two-dimensional coordinate system according to the first group of pulse signals and the second group of pulse signals, and is specifically calculated by the following formula: Among them, represents the X-axis of the coordinate system, represents the first amplitude, represents the first period, represents the first phase difference, represents the Y-axis of the coordinate system, represents the second amplitude, represents the second period, represents the second phase difference; The specific calculation of the second corrected roundness based on the first amplitude and the second amplitude includes: Calculate the first peak-to-valley value and the second peak-to-valley value of the first group of pulse signals and the second group of pulse signals respectively according to the sine and cosine waves of the first group of pulse signals and the second group of pulse signals, and are specifically calculated by the following formula: Among them, represents the amplitude relationship between the first group of pulse signals and the second group of pulse signals, represents the first peak-to-valley value, represents the second peak-to-valley value; Obtain the first standard peak-to-valley value according to the first peak-to-valley value, and is specifically calculated by the following formula; Among them, represents the first standard peak-to-valley value, represents the first peak-to-valley value, represents the first offset of the first group of pulse signals, represents the influence ratio of the first offset on the first group of pulse signals; Obtain the second standard peak-to-valley value according to the second peak-to-valley value, and is specifically calculated by the following formula: Among them, represents the second standard peak-to-valley value, represents the first peak-to-valley value, represents the second offset of the second set of pulse signals, represents the influence ratio of the second offset on the second set of pulse signals.

6. The incremental encoder output signal analysis device according to claim 5, characterized in that, The specific calculation of the first corrected roundness based on the first clutter and the second clutter includes: When the amplitude of the first clutter accounts for more than 0.2% of the main harmonic, it is considered that the first clutter generates interference, and the first clutter is screened out; When the amplitude of the second clutter accounts for more than 0.2% of the main harmonic, it is considered that the second clutter generates interference, and the second clutter is screened out.

7. The incremental encoder output signal analysis device according to claim 5, characterized in that, The specific calculation of the third corrected roundness based on the phase difference includes: After differentiating the first group of pulse signals and the second group of pulse signals respectively, a third group of pulse signals and a fourth group of pulse signals are obtained. The peak-to-valley values of the first group of pulse signals and the second group of pulse signals respectively correspond to the zero-point values of the third group of pulse signals and the fourth group of pulse signals. Calculate the phase difference between the first group of pulse signals and the second group of pulse signals according to the zero-point values.

8. The incremental encoder output signal analysis device according to claim 5, characterized in that, The specific calculation of comparing the corrected roundness with the roundness of the standard circle to confirm the failure weight of the Lissajous figure is carried out by the following formula: Among them, represents the failure weight of the Lissajous figure, represents the corrected roundness, represents the roundness of the standard circle.

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