Time grating encoder dynamic error test method, equipment and medium

Abstract

The invention discloses a time grating encoder dynamic error test method, equipment and a medium, and relates to the technical field of precision measurement, and the method comprises the steps: S1, obtaining the real-time data of a standard encoder, and carrying out the time-space reference construction of the real-time data of the standard encoder, so as to determine a test reference system; s2, based on the test reference system, obtaining measurement data of the time grating encoder and the standard encoder in the test period, and determining a measurement error value; s3, mechanical error components are determined, mechanical error values in the measurement error values are separated, and time grating encoder dynamic errors are obtained; and S4, evaluating the dynamic error of the time grating encoder through numerical calculation, and judging the dynamic precision of the time grating encoder. According to the method, the technical problem of real-time detection of the dynamic error test of the time grating encoder is solved, the interference of mechanical errors on the measured value is removed, and the test precision and the test efficiency are improved.

Description

Technical Field

[0001] The present application relates to the field of precision measurement technology, and in particular to a dynamic accuracy testing method, device, and medium for a time-grating encoder. Background Art

[0002] A time-grating encoder is an angular displacement measurement device based on time-grating technology. It combines time measurement with spatial position measurement to achieve high-precision measurement of an object's position. Unlike traditional encoders, time-grating encoders do not rely on mechanical contact or optical reflection. Instead, they use time differences to infer an object's displacement. This not only improves measurement accuracy but also significantly enhances system stability and reliability. As a key component of modern precision measurement technology, with its unique characteristics and wide range of applications, it is becoming an indispensable key component in a variety of industries, including manufacturing and metrology.

[0003] The time-grating encoder uses the principle of electromagnetic induction. For the research and development verification and factory inspection of the time-grating encoder, high-precision time synchronization is required during the dynamic testing process. Due to the lack of high-precision time synchronization means and separation of mechanical errors in the testing methods in the existing technology, it is impossible to obtain accurate time-grating encoder body errors. Summary of the Invention

[0004] The embodiments of the present application provide a method, device and medium for testing the dynamic error of a time-grating encoder, which solves the technical problem that the accurate error of the time-grating encoder itself cannot be obtained in dynamic accuracy testing.

[0005] In a first aspect, an embodiment of the present application provides a dynamic accuracy test method for a time grating encoder, characterized in that the method includes: obtaining real-time data of a standard encoder, and constructing a time-space benchmark for the real-time data of the standard encoder to determine a test benchmark system; based on the test benchmark system, obtaining measurement data of the time grating encoder and the standard encoder within the test period, and determining a measurement error value; determining a mechanical error component, separating the mechanical error value from the measurement error value, and obtaining the dynamic error of the time grating encoder; evaluating the dynamic error of the time grating encoder through numerical calculation to judge the dynamic accuracy of the time grating encoder.

[0006] In one implementation of the present application, real-time data of a standard encoder is obtained, and a time-space benchmark is constructed for the real-time data of the standard encoder to determine a test benchmark system, specifically including: performing data stream parsing on the real-time data of the standard encoder to obtain 29-bit absolute value data; performing decimal angle synchronization on the 29-bit absolute value data to determine a spatial benchmark; based on a GPS disciplined clock, obtaining time signal allocation parameters to determine a time benchmark; and determining a test benchmark system based on the spatial benchmark and the time benchmark.

[0007] In one implementation of the present application, based on a test benchmark system, measurement data of a time grating encoder and a standard encoder within a test period are obtained, and a measurement error value is determined, specifically including: setting a test time period and time interval, synchronously testing the standard encoder and the time grating encoder at a uniform angular velocity, obtaining measurement data, calculating the difference between the measurement data of the standard encoder and the time grating encoder, and determining the measurement error value.

[0008] In one implementation of the present application, determining the mechanical error component, separating the mechanical error value from the measured error value, and obtaining the dynamic error of the time grating encoder specifically includes: obtaining the vibration frequency information of the time grating encoder, and calculating the mechanical error value through mechanical error analysis; wherein the mechanical error analysis includes: mechanical error type determination and mechanical error frequency integration; the calculation formula of the mechanical error frequency integration is:

[0009] in, is the mechanical error frequency, is the mechanical error value; the mechanical error value is removed from the measured error value to obtain the dynamic error of the time grid encoder.

[0010] In one implementation of the present application, the dynamic error of the time-grid encoder is evaluated by numerical calculation to determine the dynamic accuracy of the time-grid encoder. Specifically, the method includes obtaining the number of sampling points and performing numerical calculation based on the dynamic error of the time-grid encoder and the number of sampling points to evaluate the dynamic error of the time-grid encoder. The formula for evaluating the dynamic error of the time-grid encoder is:

[0011] in, For the The dynamic error value of the time grid encoder, for The average value of the dynamic error value of the time grid encoder, is the number of sampling points, Bessel correction.

[0012] In one implementation of the present application, the evaluation data of the dynamic error is visualized.

[0013] In one implementation of the present application, before obtaining the real-time data of the standard encoder, the method also includes: installing the time grating encoder to the preset direct-drive turntable C-axis, and driving the C-axis movement through the numerical control system to obtain optimized control parameters; installing the standard encoder on the table surface of the direct-drive turntable C-axis, calibrating the center point of the grating hub through the probe to obtain the scanning installation point; based on the scanning installation point, positioning and installing the scanning device and the grating hub, and collecting data on the standard encoder after positioning and installation through a preset NC program to obtain real-time data of the standard encoder.

[0014] In one implementation of the present application, after installing the standard encoder on the table surface of the C-axis of the direct-drive turntable and calibrating the center point of the grating hub through the probe to obtain the scanning installation point, the method also includes: installing the time grating encoder on one side of a preset multi-layer electromagnetic shielding layer; installing the standard encoder on the other side of the multi-layer electromagnetic shielding layer; wherein the time grating encoder, the multi-layer electromagnetic shielding layer and the standard encoder are coaxially installed.

[0015] In a second aspect, an embodiment of the present application further provides a dynamic accuracy testing device for a time grating encoder, characterized in that the device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so as to enable the at least one processor to: obtain real-time data of a standard encoder, and perform a time-space benchmark construction on the real-time data of the standard encoder to determine a test benchmark system; based on the test benchmark system, obtain measurement data of the time grating encoder and the standard encoder within the test cycle, and determine a measurement error value; determine a mechanical error component, separate the mechanical error value from the measurement error value, and obtain the dynamic error of the time grating encoder; evaluate the dynamic error of the time grating encoder through numerical calculation, and judge the dynamic accuracy of the time grating encoder.

[0016] In a third aspect, an embodiment of the present application further provides a non-volatile computer storage medium for dynamic accuracy testing of a time grating encoder, storing computer executable instructions, characterized in that the computer executable instructions are configured to: obtain real-time data of a standard encoder, and perform space-time benchmark construction on the real-time data of the standard encoder to determine a test benchmark system; based on the test benchmark system, obtain measurement data of the time grating encoder and the standard encoder within a test period, and determine a measurement error value; determine a mechanical error component, separate the mechanical error value from the measurement error value, and obtain the dynamic error of the time grating encoder; evaluate the dynamic error of the time grating encoder through numerical calculation, and judge the dynamic accuracy of the time grating encoder.

[0017] The embodiments of the present application provide a method, device and medium for testing the dynamic error of a time-grating encoder. A test benchmark is established through a standard encoder to improve test accuracy. The mechanical error portion of the measurement error is separated according to the vibration frequency, and a dual-encoder coaxial test system is constructed at the same time to achieve synchronous testing of the time-grating encoder and the standard encoder, thereby improving angle comparison accuracy and test efficiency. In addition, installation errors are reduced by using a direct-drive turntable for on-machine testing. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings: Figure 1 A flow chart of a time-grating encoder dynamic error testing method provided in an embodiment of the present application; Figure 2 A structural diagram of a time-grating encoder dynamic error testing device provided in an embodiment of the present application; Figure 3 A schematic diagram of a dynamic error test principle of a time-grating encoder provided in an embodiment of the present application; Figure 4 A schematic diagram of the internal structure of a time-grating encoder dynamic error testing device provided in an embodiment of the present application.

[0019] Explanation of the accompanying symbols: 1. Scanning device; 2. Grid hub; 3. Multi-layer electromagnetic shielding layer; 4. Time grid encoder. DETAILED DESCRIPTION

[0020] To make the purpose, technical solutions, and advantages of this application more clear, the technical solutions of this application will be clearly and completely described below in conjunction with the specific embodiments of this application and the corresponding drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0021] The embodiments of the present application provide a method, device and medium for dynamic error testing of a time grating encoder, which solves the technical problem that the error components of the motion state cannot be accurately separated in the dynamic error testing of the time grating encoder, constructs a dual-encoder coaxial testing system, realizes the time-varying error transfer analysis of the time grating encoder, improves the angle comparison accuracy and testing efficiency, and further reduces the installation error by using a direct-drive turntable for testing.

[0022] The technical solutions proposed in the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0023] Figure 1 This is a flow chart of a method for testing dynamic errors of a time grid encoder provided in an embodiment of the present application. Figure 1 As shown, a method for testing a time-grid encoder dynamic error provided by an embodiment of the present application specifically includes the following steps: Step 101: Acquire real-time data of a standard encoder, and construct a spatiotemporal benchmark for the real-time data of the standard encoder to determine a test benchmark system.

[0024] For example, a spatiotemporal benchmark is constructed for the real-time data of the standard encoder. The benchmark construction based on the spatial benchmark (RVM4180) and the time benchmark (GPS disciplined clock) can collaboratively realize the precise mapping of position and time in the dynamic accuracy test of the time grating encoder 4, meeting the spatiotemporal synchronization requirements of micron-level precision.

[0025] Specifically, the real-time data of the standard encoder is obtained, and a time-space benchmark is constructed for the real-time data of the standard encoder to determine the test benchmark system, including: performing data stream parsing on the real-time data of the standard encoder to obtain 29-bit absolute value data; performing decimal angle synchronization on the 29-bit absolute value data to determine the space benchmark; based on the GPS disciplined clock, obtaining the time signal allocation parameters to determine the time benchmark; and determining the test benchmark system based on the space benchmark and the time benchmark.

[0026] Furthermore, before obtaining the real-time data of the standard encoder, the test method also includes a time-grating encoder dynamic accuracy test device, which is equipped with a five-axis vertical machine tool, a direct-drive turntable and a measuring probe. The specific method is: the time-grating encoder 4 is installed on the preset direct-drive turntable C-axis, and the C-axis is driven to move by the numerical control system to obtain optimized control parameters; the standard encoder is installed on the table of the direct-drive turntable C-axis, and the center point of the grating hub is calibrated by the probe to obtain the scanning installation point; based on the scanning installation point, the scanning device 1 and the grating hub 2 are positioned and installed, and the data of the standard encoder after positioning and installation is collected through the preset NC program to obtain the real-time data of the standard encoder.

[0027] Furthermore, after the standard encoder is installed on the table of the C-axis of the direct-drive turntable, its grid hub 2 is also installed on the table, and the center point of the grid hub is calibrated by the probe to obtain the scanning installation point, the method also includes: installing the time grid encoder 4 on one side of the preset multi-layer electromagnetic shielding layer 3; installing the standard encoder on the other side of the multi-layer electromagnetic shielding layer 3; wherein the time grid encoder 4, the multi-layer electromagnetic shielding layer 3 and the standard encoder are coaxially installed.

[0028] Figure 2 This is a structural diagram of a time-grating encoder dynamic error testing device provided in an embodiment of the present application.

[0029] In one embodiment, the equipment construction for the dynamic error test of the time-grating encoder needs to include a standard encoder (taking RVM4180 as an example, RVM4180 is a high-precision absolute angle encoder with a 29-bit resolution corresponding to 0.04 arc seconds of a 360° circle), which can directly provide the absolute angle value of the turntable at any position), upper-level data acquisition and analysis software, and a five-axis machining center with a direct-drive turntable.

[0030] First, install the time-grid encoder 4 on the C-axis of the direct-drive rotary table. The C-axis motion is driven and optimized by the CNC system. The RVM4180 scale hub 2 is fixed to the C-axis tabletop. A micrometer is used to adjust the radial runout to less than 3u. The center point of the scale hub is automatically calibrated using a stylus. The scanning module is installed on the spindle and moved to the center point of the scale hub. A 0.2mm spacer is placed between the scale hub 2 of the standard encoder and the spindle scanning module.

[0031] Furthermore, the time grating encoder 4 is installed on one side of the preset multi-layer electromagnetic shielding layer 3; the standard encoder is installed on the other side of the multi-layer electromagnetic shielding layer 3; wherein, the time grating encoder 4, the multi-layer electromagnetic shielding layer 3, the scanning module and the standard encoder are coaxially installed to achieve the integrity of the time grating encoder 4, the multi-layer electromagnetic shielding layer 3 and the standard encoder.

[0032] Figure 3 This is a structural diagram of a time-grating encoder dynamic error testing method provided in an embodiment of the present application.

[0033] By installing a standard ball on the turntable work surface, the position of the ball's center in the machine tool coordinate system can be measured using a laser tracker. The turntable is driven to rotate 0°, 90°, 180°, and 270°, and the coordinates of the ball's center at each position are recorded. The resulting 29-bit absolute angle data is then converted to decimal degrees to determine the spatial reference.

[0034] The whole system time is synchronized by GPS disciplined clock.

[0035] Data acquisition can be performed by running the set NC program. Using the upper-level data acquisition and analysis software to simultaneously collect real-time data from the CNC system and RVM4180, 29-bit absolute value data can be obtained, including dynamic accuracy test data.

[0036] The test benchmark system is obtained by using 29-bit absolute value data as the spatial benchmark and providing a time benchmark of ≤10ns through the host computer GPS disciplined clock.

[0037] The above-mentioned test equipment construction method and test benchmark system construction can improve measurement accuracy. The nominal accuracy of the RVM4180 encoder can reach ±0.5", which is higher than the ±1" accuracy of the laser interferometer. Under the same testing conditions, the RVM4180 encoder can obtain better results. The overall test device is less affected by environmental factors. By utilizing the precision measurement and compensation of the high-precision direct-drive turntable, the performance is more stable when measuring small step distances. In addition, the overall test device obtained by the test equipment construction method of this application can perform high-speed and continuous dynamic precision measurement for data acquisition and problem analysis.

[0038] Step 102: Based on the test benchmark system, obtain the measurement data of the time grid encoder and the standard encoder during the test period, and determine the measurement error value.

[0039] Exemplarily, the measurement data of the time-grating encoder and the standard encoder are obtained during the test cycle, thereby improving the measurement accuracy and stability of the time-grating encoder under high-speed and variable-load conditions during dynamic error testing.

[0040] Specifically, based on the test benchmark system, the measurement data of the time grating encoder and the standard encoder within the test period are obtained, and the measurement error value is determined, including: setting the test time period and time interval, synchronously testing the standard encoder and the time grating encoder at a uniform angular speed, obtaining the measurement data, calculating the difference between the measurement data of the standard encoder and the time grating encoder, and determining the measurement error value.

[0041] In one embodiment, the measurement data of two encoders (a time-grating encoder and a reference encoder) are tested at a uniform angular velocity according to a time interval of 10 ms, and the measurement data within a time period of 360 ms are extracted to obtain the measurement data of the two encoders.

[0042] The difference between the measurement data of the standard encoder and the time grating encoder is calculated and used as the measurement error value.

[0043] Step 103: Determine the mechanical error component, separate the mechanical error value from the measured error value, and obtain the time grid encoder dynamic error.

[0044] Exemplarily, since the measurement error value may include errors caused by different factors, the mechanical error value is separated to determine the mechanical error separation data; the error components of the mechanical error separation data are matched to determine the mechanical error components; wherein, the types of mechanical error components include: eccentricity error caused by the non-concentricity between the turntable shaft system and the encoder, tilt error caused by the non-parallelism of the encoder mounting surface, and mechanical vibration caused by the resonance of the transmission system; the mechanical error components are eliminated to obtain the dynamic error of the time grating encoder.

[0045] Specifically, determining the mechanical error component, separating the mechanical error value from the measured error value, and obtaining the dynamic error of the time grating encoder includes: obtaining the vibration frequency information of the time grating encoder, and calculating the mechanical error value through mechanical error analysis; wherein the mechanical error analysis includes: mechanical error type determination and mechanical error frequency integration; the calculation formula of the mechanical error frequency integration is:

[0046] in, is the mechanical error frequency, is the mechanical error value, t1 and t2 are the starting point and end point of the time interval respectively; the mechanical error value is removed from the measured error value to obtain the dynamic error of the time grating encoder.

[0047] In one embodiment, the mechanical error component is determined by performing an integral operation on the mechanical angular frequency to obtain vibration frequency information (curve image), corresponding to the mechanical error frequency and amplitude range, determining the mechanical error type, and integrating the frequency of the mechanical error. The error value is measured and the mechanical error angle obtained by the integral is removed to obtain the dynamic error of the time grid encoder.

[0048] Taking 0-10ms as an integration unit, 10-20ms as an integration unit, and so on, the mechanical error value is calculated according to the mechanical error frequency in the corresponding time interval.

[0049] Finally, the mechanical error value is removed from the measured error value to obtain the dynamic error of the time grid encoder.

[0050] Error component matching is performed on the mechanical error separation data to determine the mechanical error component. The mechanical error component characterizes the frequency characteristics, amplitude range, and mutual mapping relationship of the signal under different error types. The judgment of the mechanical error component is shown in Table 1 below.

[0051] Table 1 Mechanical error frequency amplitude table

[0052] The frequency characteristics and amplitude ranges in the table correspond to the vibration frequency information of the time-grid encoder, eliminating eccentricity, tilt error, and mechanical vibration error. The vibration frequency information of the time-grid encoder can be used by sensors to detect changes in electrical parameters and transmit vibration signals.

[0053] Step 104 : Evaluate the dynamic error of the time-grid encoder through numerical calculation to determine the dynamic accuracy of the time-grid encoder.

[0054] For example, through the dynamic error evaluation of the time-grating encoder, a direct reflection of the stability of the encoder in a moving state can be achieved, thereby improving the stability of the time-grating encoder accuracy test.

[0055] Specifically, the dynamic error of the time grating encoder is evaluated by numerical calculation to determine the dynamic accuracy of the time grating encoder, which specifically includes: obtaining the number of sampling points, and evaluating the dynamic error of the time grating encoder based on the dynamic error of the time grating encoder and the numerical calculation of the number of sampling points; wherein the formula for evaluating the dynamic error of the time grating encoder is:

[0056] in, For the The dynamic error value of the time grid encoder, for The average value of the dynamic error value of the time grid encoder, is the number of sampling points, Bessel correction.

[0057] Furthermore, the evaluation data of the dynamic error is visualized.

[0058] For single-point SDE calculations The specific analysis process is explained in Table 3 below.

[0059] Table 2 Dynamic error evaluation calculation table

[0060] The angles in Table 2 are The single-point SDE calculation term is obtained by separating the mechanical error value from the measured error value. , which is the variance term. When the theoretical angle is 0°, the single-point SDE calculation term , the calculated value of the first single-point SDE calculation item is , and so on.

[0061] The full-scale synthesis can be achieved by the following method, taking N=5: .

[0062] The smaller the calculated value of SDE is, the smaller the dynamic error fluctuation of the time grating encoder of this data set is, and the closer the dynamic error is to the true error.

[0063] Figure 3 The present invention provides a schematic diagram of a dynamic error test principle of a time-grating encoder, which is mainly composed of a standard encoder (RVM4180), upper-level data acquisition and analysis software, a five-axis machining center and a direct-drive turntable.

[0064] The CNC system sends S-curve acceleration and deceleration commands to the servo driver. Upon receiving these commands, the servo driver outputs current to drive the direct-drive turntable. During this rotation, real-time data from the direct-drive turntable is sent to the host computer via the CNC system for acquisition and processing. Furthermore, real-time data from the standard encoder, the RVM4180, is also sent to the host computer for acquisition and processing.

[0065] The above is an embodiment of the method proposed in this application. Based on the same inventive concept, this application embodiment also provides a time grid encoder dynamic error test device, the structure of which is as follows: Figure 4 shown.

[0066] Figure 4 This is a schematic diagram of the internal structure of a time grid encoder dynamic error test device provided in an embodiment of the present application. Figure 4 As shown, the equipment includes: at least one processor 401; and, a memory 402 communicatively coupled to the at least one processor; The memory 402 stores instructions that can be executed by at least one processor, and the instructions are executed by the at least one processor 401 to enable the at least one processor 401 to: Acquire real-time data of the standard encoder and construct a time-space benchmark for the real-time data of the standard encoder to determine the test benchmark system; based on the test benchmark system, obtain the measurement data of the time grating encoder and the standard encoder during the test period to determine the measurement error value; determine the mechanical error component, separate the mechanical error value from the measurement error value, and obtain the dynamic error of the time grating encoder; evaluate the dynamic error of the time grating encoder through numerical calculation to determine the dynamic accuracy of the time grating encoder.

[0067] Some embodiments of the present application provide corresponding Figure 1 A non-volatile computer storage medium for dynamic error testing of a time grating encoder stores computer executable instructions, wherein the computer executable instructions are set to: Acquire real-time data of the standard encoder and construct a time-space benchmark for the real-time data of the standard encoder to determine the test benchmark system; based on the test benchmark system, obtain the measurement data of the time grating encoder and the standard encoder during the test period to determine the measurement error value; determine the mechanical error component, separate the mechanical error value from the measurement error value, and obtain the dynamic error of the time grating encoder; evaluate the dynamic error of the time grating encoder through numerical calculation to determine the dynamic accuracy of the time grating encoder.

[0068] The various embodiments in this application are described in a progressive manner. Similar portions between the various embodiments can be referenced to each other. Each embodiment focuses on the differences from the other embodiments. In particular, the IoT device and media embodiments are generally similar to the method embodiments, so their description is relatively simple. For relevant portions, refer to the description of the method embodiments.

[0069] The system and medium provided in the embodiments of the present application correspond one-to-one to the method. Therefore, the system and medium also have similar beneficial technical effects to their corresponding methods. Since the beneficial technical effects of the method have been described in detail above, the beneficial technical effects of the system and medium will not be repeated here.

[0070] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0071] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes 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 device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0072] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0073] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0074] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0075] Memory may include non-permanent storage in a computer-readable medium, in the form of random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

[0076] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can be implemented using any method or technology to store information. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change RAM (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media such as modulated data signals and carrier waves.

[0077] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0078] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A dynamic accuracy test method for a time-grating encoder, characterized in that: The method comprises: Acquire standard encoder real-time data, and construct a spatiotemporal benchmark for the standard encoder real-time data to determine a test benchmark system; Based on the test benchmark system, obtaining measurement data of the time grid encoder and the standard encoder during the test period, and determining the measurement error value; Determine the mechanical error component, separate the mechanical error value from the measured error value, and obtain the time grid encoder dynamic error; The dynamic error of the time-grid encoder is evaluated by numerical calculation to determine the dynamic accuracy of the time-grid encoder.

2. The dynamic accuracy testing method of a time-grating encoder according to claim 1, characterized in that: Obtaining standard encoder real-time data and constructing a spatiotemporal benchmark for the standard encoder real-time data to determine a test benchmark system, specifically including: Performing data stream parsing on the real-time data of the standard encoder to obtain 29-bit absolute value data; Performing decimal angle synchronization on the 29-bit absolute value data to determine a spatial reference; Based on GPS disciplined clock, obtain time signal distribution parameters and determine time base; The test benchmark system is determined based on the spatial benchmark and the time benchmark.

3. The dynamic accuracy testing method of a time-grating encoder according to claim 1, characterized in that: Based on the test benchmark system, obtaining measurement data of the time grid encoder and the standard encoder during the test period and determining the measurement error value specifically includes: The test time period and time interval are set, the standard encoder and the time grating encoder are synchronously tested at a uniform angular velocity, measurement data are acquired, the difference between the measurement data of the standard encoder and the time grating encoder is calculated, and the measurement error value is determined.

4. The dynamic accuracy testing method of a time-grating encoder according to claim 1, characterized in that: Determining the mechanical error component, separating the mechanical error value from the measured error value, and obtaining the time grid encoder dynamic error specifically includes: Obtaining vibration frequency information of the time grid encoder, and calculating the mechanical error value through mechanical error analysis; wherein the mechanical error analysis includes: mechanical error type determination and mechanical error frequency integration; The calculation formula of the mechanical error frequency integral is: in, is the mechanical error frequency, is the mechanical error value; The mechanical error value is removed from the measurement error value to obtain the time grid encoder dynamic error.

5. The dynamic accuracy testing method of a time-grating encoder according to claim 1, characterized in that: Evaluating the dynamic error of the time-grid encoder by numerical calculation to determine the dynamic accuracy of the time-grid encoder specifically includes: The number of sampling points is set, and the dynamic error of the time grating encoder is evaluated based on the dynamic error of the time grating encoder and the numerical value of the number of sampling points; wherein the formula for evaluating the dynamic error of the time grating encoder is: Among them, the For the The dynamic error value of the time grid encoder, for The average value of the dynamic error value of the time grid encoder, is the number of sampling points, Bessel correction.

6. The dynamic accuracy testing method of a time-grating encoder according to claim 5, characterized in that: The evaluation data of the dynamic error is visualized.

7. The dynamic accuracy testing method of a time-grating encoder according to claim 1, characterized in that: Before acquiring the real-time data of the standard encoder, the method further includes: Install the time-grid encoder to the preset direct-drive turntable C-axis and drive the C-axis motion through the CNC system to obtain optimized control parameters; Install a standard encoder on the C-axis table of the direct-drive turntable, and calibrate the center point of the grid hub using a probe to obtain the scanning installation point; Based on the scanning installation point, the scanning device is positioned and installed on the main shaft of the machine tool, and data is collected from the standard encoder after positioning and installation through a preset NC program to obtain real-time data of the standard encoder.

8. The dynamic accuracy testing method of a time-grating encoder according to claim 7, characterized in that: After installing a standard encoder on the table surface of the C-axis of the direct-drive turntable and calibrating the center point of the grid hub by a probe to obtain a scanning installation point, the method further includes: Installing the time grid encoder on one side of a preset multi-layer electromagnetic shielding layer; The standard encoder is installed on the other side of the multi-layer electromagnetic shielding layer; wherein the time grating encoder, the multi-layer electromagnetic shielding layer and the standard encoder are coaxially installed.

9. A dynamic accuracy test device for a time-grating encoder, characterized in that: The device comprises: at least one processor; and, a memory communicatively coupled to the at least one processor; The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to: Acquire standard encoder real-time data, and construct a spatiotemporal benchmark for the standard encoder real-time data to determine a test benchmark system; Obtaining measurement data of a time grid encoder and a test benchmark, and determining a measurement error value based on the test benchmark system; Determine the mechanical error component, separate the mechanical error value from the measured error value, and obtain the time grid encoder dynamic error; The dynamic error of the time-grid encoder is evaluated by numerical calculation to determine the dynamic accuracy of the time-grid encoder.

10. A non-volatile computer storage medium for dynamic accuracy testing of a time-grating encoder, storing computer-executable instructions, characterized in that: The computer executable instructions are configured to: Acquire standard encoder real-time data, and construct a spatiotemporal benchmark for the standard encoder real-time data to determine a test benchmark system; Obtaining measurement data of a time grid encoder and a test benchmark, and determining a measurement error value based on the test benchmark system; Determine the mechanical error component, separate the mechanical error value from the measured error value, and obtain the time grid encoder dynamic error; The dynamic error of the time-grid encoder is evaluated by numerical calculation to determine the dynamic accuracy of the time-grid encoder.

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