System and method for recording and recovering power-down position of virtual multi-turn absolute value encoder

Abstract

The invention relates to the technical field of encoders, and discloses a system and a method for recording and recovering a power failure position of a virtual multi-turn absolute value encoder. The system comprises: a virtual multi-turn absolute value encoder; the nonvolatile storage module is used for storing a multi-circle real-time record and a multi-circle actual numerical value of the recovery algorithm module at each power-off moment; the multi-turn real-time recording and recovery algorithm module comprises an initialization compensation unit and a real-time calculation recording unit, and the initialization compensation unit is used for reading the multi-turn actual numerical value of the multi-turn real-time recording and recovery algorithm module at the last power-off moment from the nonvolatile storage module in the power-on initialization stage and calculating the real-time calculation recording unit according to the multi-turn actual numerical value of the multi-turn real-time recording and recovery algorithm module. The real-time calculating and recording unit is used for calculating a multi-circle actual value at the current moment and a multi-circle position actual value at the current moment according to the multi-circle compensation value; and feeding back the actual value of the multi-circle position at the current moment to the external equipment and recording the actual value of the multi-circle position at the current moment into the nonvolatile storage module.

Description

Technical Field

[0001] This invention relates to the field of encoder technology, and in particular to a system and method for recording and recovering the power-off position of a virtual multi-turn absolute encoder. Background Technology

[0002] Virtual multi-turn absolute encoders extend single-turn absolute encoders into multi-turn encoders through software algorithms. Due to their low cost and simple structure, they have found some application in industrial fields. However, existing virtual multi-turn absolute encoders have significant shortcomings: while they can measure and provide feedback on multi-turn positions during normal operation using software algorithms, their multi-turn position data cannot be saved after power failure due to the lack of an effective data storage and protection mechanism. Upon power-up, the multi-turn values ​​return to zero, requiring the device to undergo complex position calibration or initialization operations.

[0003] Existing solutions for power-loss data retention, such as battery-powered multi-turn absolute encoders, can retain data even when power is off, but they suffer from limited battery life, the need for periodic replacement, increased costs, and the risk of battery leakage damaging the equipment. Other solutions use complex mechanical gear sets to achieve multi-turn counting, but this approach is structurally complex, bulky, and expensive, and the mechanical components are prone to wear, resulting in lower reliability. These shortcomings of existing technologies limit the application of virtual multi-turn absolute encoders in scenarios with high requirements for position continuity. Summary of the Invention

[0004] This invention provides a system and method for recording and restoring the position of a virtual multi-turn absolute encoder after power failure, which can solve the technical problem of loss of multi-turn position data after power failure and the need for recalibration or initialization after power-on in the prior art.

[0005] This invention provides a system for recording and recovering the power-off position of a virtual multi-turn absolute encoder, wherein the system includes:

[0006] A virtual multi-turn absolute encoder is used to output position feedback values ​​in real time.

[0007] A non-volatile storage module is used to store the actual values ​​of multiple revolutions of the multi-revolution real-time recording and recovery algorithm module at each power failure moment;

[0008] The multi-turn real-time recording and recovery algorithm module includes an initialization compensation unit and a real-time calculation and recording unit. The initialization compensation unit is used to read the actual multi-turn values ​​of the multi-turn real-time recording and recovery algorithm module at the last power failure time from the non-volatile storage module during the power-on initialization phase, and use them as the multi-turn compensation values ​​for the entire current power-on operation. The real-time calculation and recording unit is used to calculate the actual multi-turn values ​​and the actual multi-turn positions at the current time based on the multi-turn compensation values, and to feed back the actual multi-turn positions at the current time to the external device and record the actual multi-turn values ​​at the current time to the non-volatile storage module.

[0009] Preferably, the real-time calculation and recording unit is used to calculate the actual values ​​of the current multi-lap positions and the actual values ​​of the current multi-lap positions based on the multi-lap compensation values, including:

[0010] The position feedback value output by the virtual multi-turn absolute encoder is queried at set time intervals using a loop function.

[0011] Calculate the actual value of the current multi-lap position and the actual value of the current multi-lap position based on the queried location feedback value and multi-lap compensation value.

[0012] Preferably, feeding back the actual multi-lap position values ​​at the current moment to an external device includes:

[0013] The actual value of the current multi-lap position is fed back to the host computer display to show the current multi-lap position;

[0014] The actual value of the current multi-turn position is fed back to the controller to control the rotational movement of the rotatable device.

[0015] Preferably, recording the current multi-lap actual values ​​into the non-volatile storage module includes: overwriting the previously recorded multi-lap actual values ​​with the current multi-lap actual values.

[0016] This invention also provides a method for recording and recovering the power-off position of a virtual multi-turn absolute encoder, wherein the method includes:

[0017] During the power-on initialization phase, the actual values ​​of multiple revolutions of the multi-revolution real-time recording and recovery algorithm module at the last power failure time are read from the non-volatile storage module. The non-volatile storage module stores the actual values ​​of multiple revolutions of the multi-revolution real-time recording and recovery algorithm module at each power failure time.

[0018] The actual multi-turn value at the last power failure moment of the multi-turn real-time recording and recovery algorithm module is used as the multi-turn compensation value for the entire current power-on operation.

[0019] Calculate the actual values ​​of the current multi-lap positions and the actual values ​​of the current multi-lap positions based on the multi-lap compensation values.

[0020] The system feeds back the actual values ​​of the current multi-lap position to external devices and records the actual values ​​of the current multi-lap position to a non-volatile storage module.

[0021] Preferably, calculating the actual values ​​of the current multi-lap positions and the actual values ​​of the current multi-lap positions based on the multi-lap compensation values ​​includes:

[0022] The position feedback value output by the virtual multi-turn absolute encoder is queried at set time intervals using a loop function.

[0023] Calculate the actual value of the current multi-lap position and the actual value of the current multi-lap position based on the queried location feedback value and multi-lap compensation value.

[0024] Preferably, feeding back the actual multi-lap position values ​​at the current moment to an external device includes:

[0025] The actual value of the current multi-lap position is fed back to the host computer display to show the current multi-lap position;

[0026] The actual value of the current multi-turn position is fed back to the controller to control the rotational movement of the rotatable device.

[0027] Preferably, recording the current multi-lap actual values ​​into the non-volatile storage module includes: overwriting the previously recorded multi-lap actual values ​​with the current multi-lap actual values.

[0028] The above technical solution enables the timed recording of multi-turn encoder data and ensures that the values ​​can be accurately restored upon power-up, regardless of when the power is lost. This ensures the continuity of equipment position information, improves equipment operating efficiency, reduces calibration costs and time losses caused by position data loss, and expands the application scope of virtual multi-turn absolute encoders. Attached Figure Description

[0029] The accompanying drawings, which form part of this specification, are provided to further illustrate embodiments of the invention and, together with the textual description, explain the principles of the invention. It is obvious that the drawings described below are merely some embodiments of the invention, and those skilled in the art can obtain other drawings based on these drawings without any creative effort.

[0030] Figure 1 A schematic diagram of a system for recording and recovering the power-off position of a virtual multi-turn absolute encoder according to an embodiment of the present invention is shown;

[0031] Figure 2 A flowchart is shown below illustrating a method for recording and recovering the power-off position of a virtual multi-turn absolute encoder according to an embodiment of the present invention.

[0032] Figure 3 A flowchart illustrating multi-lap real-time calculation and recording according to an embodiment of the present invention is shown. Detailed Implementation

[0033] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. 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 them. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. 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.

[0034] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0035] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0036] Figure 1 A schematic diagram of a system for recording and recovering the power-off position of a virtual multi-turn absolute encoder according to an embodiment of the present invention is shown.

[0037] like Figure 1 As shown, this embodiment of the invention provides a system for recording and recovering the power-off position of a virtual multi-turn absolute encoder, wherein the system includes:

[0038] A virtual multi-turn absolute encoder is used to output position feedback values ​​in real time (the output is in degrees, such as radians);

[0039] Specifically, the virtual multi-turn absolute encoder, based on the single-turn absolute encoding principle, can convert the mechanical rotation angle into a single-turn position encoding. At the same time, it can realize the multi-turn counting function through built-in software algorithms and output the current virtual multi-turn position feedback value in real time.

[0040] A non-volatile storage module is used to store the actual multi-turn values ​​of the virtual multi-turn real-time recording and recovery algorithm module at each power outage.

[0041] For example, the present invention uses an EEPROM non-volatile memory chip to store the number of revolutions of the multi-record real-time recording and recovery algorithm module at each power failure, ensuring that the data is not lost after power failure and providing historical position information for power-on initialization.

[0042] The multi-turn real-time recording and recovery algorithm module includes an initialization compensation unit and a real-time calculation and recording unit. The initialization compensation unit is used to read the actual multi-turn value of the multi-turn real-time recording and recovery algorithm module at the last power failure time from the non-volatile storage module during the power-on initialization phase, and use it as the multi-turn compensation value for the entire current power-on operation. The real-time calculation and recording unit is used to calculate the actual multi-turn value (integer number of turns) and the actual multi-turn position value (degrees, such as radians) at the current time based on the multi-turn compensation value, and feed back the actual multi-turn position value at the current time to the external device and record the actual multi-turn value at the current time to the non-volatile storage module.

[0043] Specifically, the multi-turn real-time recording and recovery algorithm module includes hardware circuits for performing initialization compensation calculations, real-time multi-turn numerical calculations and recordings, and corresponding software algorithm programs, and can interact with the virtual multi-turn absolute encoder and non-volatile storage module.

[0044] The above technical solution enables the timed recording of encoder position data and ensures that the values ​​can be accurately restored upon the next power-on, regardless of when the power is lost. This ensures the continuity of equipment position information, improves equipment operating efficiency, reduces calibration costs and time losses caused by position data loss, and expands the application scope of virtual multi-turn absolute encoders.

[0045] According to one embodiment of the present invention, the real-time calculation and recording unit is used to calculate the actual value of the current multi-lap position and the actual value of the current multi-lap position based on the multi-lap compensation value, including:

[0046] The position feedback value output by the virtual multi-turn absolute encoder is queried at set time intervals using a loop function.

[0047] Calculate the actual value of the current multi-lap position and the actual value of the current multi-lap position based on the queried location feedback value and multi-lap compensation value.

[0048] According to one embodiment of the present invention, feeding back the actual value of the current multi-lap position to an external device includes:

[0049] The actual value of the current multi-lap position is fed back to the host computer display to show the current multi-lap position;

[0050] The actual value of the current multi-turn position is fed back to the controller to control the rotational movement of the rotatable device.

[0051] In other words, the position feedback value is periodically queried from the virtual multi-turn absolute encoder through a loop function. Combined with the multi-turn calculation logic and the multi-turn compensation value, the current multi-turn actual value and the multi-turn position actual value are recalculated. Then, the multi-turn position actual value can be fed back to the external device, and the multi-turn actual value is recorded in the non-volatile storage module to complete a data update.

[0052] According to one embodiment of the present invention, recording the current multi-lap actual values ​​into a non-volatile storage module includes: overwriting the previously recorded multi-lap actual values ​​with the current multi-lap actual values.

[0053] like Figure 2 As shown, this embodiment of the invention also provides a method for recording and recovering the power-off position of a virtual multi-turn absolute encoder, wherein the method includes:

[0054] During the power-on initialization phase, the actual values ​​of multiple revolutions of the multi-revolution real-time recording and recovery algorithm module at the last power failure time are read from the non-volatile storage module. The non-volatile storage module stores the actual values ​​of multiple revolutions of the multi-revolution real-time recording and recovery algorithm module at each power failure time.

[0055] The actual multi-turn value at the last power failure moment of the multi-turn real-time recording and recovery algorithm module is used as the multi-turn compensation value for the entire current power-on operation.

[0056] Calculate the actual values ​​of the current multi-lap positions and the actual values ​​of the current multi-lap positions based on the multi-lap compensation values.

[0057] The system feeds back the actual values ​​of the current multi-lap position to external devices and records the actual values ​​of the current multi-lap position to a non-volatile storage module.

[0058] The above technical solution enables the timed recording of encoder position data and ensures that the values ​​can be accurately restored upon the next power-on, regardless of when the power is lost. This ensures the continuity of equipment position information, improves equipment operating efficiency, reduces calibration costs and time losses caused by position data loss, and expands the application scope of virtual multi-turn absolute encoders.

[0059] According to one embodiment of the present invention, such as Figure 3 As shown, the calculation of the actual multi-lap values ​​and the actual multi-lap positions at the current time based on the multi-lap compensation values ​​includes:

[0060] The loop function queries the multi-turn position feedback values ​​output by the virtual multi-turn absolute encoder at set time intervals.

[0061] Calculate the actual multi-lap position value and the actual multi-lap position value at the current time based on the queried multi-lap position feedback value and multi-lap compensation value.

[0062] According to one embodiment of the present invention, feeding back the actual value of the current multi-lap position to an external device includes:

[0063] The actual value of the current multi-lap position is fed back to the host computer display to show the current multi-lap position;

[0064] The actual value of the current multi-turn position is fed back to the controller to control the rotational movement of the rotatable device.

[0065] According to one embodiment of the present invention, recording the current multi-lap actual values ​​into a non-volatile storage module includes: overwriting the previously recorded multi-lap actual values ​​with the current multi-lap actual values.

[0066] The method described in this invention is described below with reference to the system. Specifically, the method described in this invention includes the following two parts:

[0067] 1) Power-on initialization process

[0068] a. After the system is powered on, the initialization compensation unit of the multi-turn real-time recording and recovery algorithm module is started, and reads the number of turns (actual multi-turn values) stored in the multi-turn real-time recording and recovery algorithm module when it was last powered off from the non-volatile storage module.

[0069] b. Set the read revolution count data as the multi-revolution compensation value for the entire power-on operation.

[0070] 2) Multi-lap real-time calculation and recording process

[0071] a. The real-time calculation and recording unit of the multi-turn real-time recording and recovery algorithm module periodically queries the values ​​(position feedback values) fed back by the virtual multi-turn encoder according to the set time interval through a loop function.

[0072] b. After obtaining the feedback value, combine the multi-lap compensation value and multi-lap calculation logic set in the initialization process stage to recalculate the actual value of the multi-lap position at the current moment and the actual value of the current multi-lap.

[0073] c. Feed back the calculated actual position values ​​(values ​​after multi-turn compensation) to external devices, such as a host computer display to show the current position, or transmit them to a controller for position control of the device (such as a robotic arm).

[0074] d. Record the calculated multi-cycle actual values ​​into the non-volatile storage module, overwriting the previously stored multi-cycle actual values, to achieve real-time data updates.

[0075] By repeating the above steps of querying, calculating, providing feedback, and recording, the multi-turn position data of the virtual multi-turn encoder can be continuously monitored and processed in real time.

[0076] The method and system for recording and restoring the power-off position of the virtual multi-turn absolute encoder described in this invention are described below with reference to examples.

[0077] Taking the application scenario of a heterogeneous robotic arm requiring multiple rotations as an example, this paper elaborates on the specific implementation process and advantages of the present invention. In modern industrial production and scientific research experiments, heterogeneous robotic arms, due to their flexible joint configuration and wide range of motion, are often used for complex operational tasks, such as precision assembly, material handling, and special operations. Some joints of these robotic arms need to perform multiple rotations exceeding 360 degrees, therefore, accurate detection and reliable recording of joint positions are crucial.

[0078] Before the heterogeneous robotic arm operates, technicians integrate the system of this invention into the control system of the robotic arm, completing the installation and debugging of the virtual multi-turn absolute encoder, the non-volatile storage module, and the multi-turn real-time recording and recovery algorithm module. After the system is powered on, the multi-turn real-time calculation and recording module starts running continuously, actively querying the values ​​fed back by the virtual multi-turn absolute encoder at preset time intervals (e.g., every 100 milliseconds).

[0079] During the robotic arm's task execution, when a joint (such as the shoulder joint responsible for a wide range of swing) performs multi-turn rotational motion, a virtual multi-turn absolute encoder converts the joint's mechanical rotation angle into a single-turn position code. The encoder then accumulates the number of turns using a built-in software algorithm, outputting the current multi-turn position data. The multi-turn real-time calculation and recording module acquires this data and, combining it with the multi-turn calculation logic and pre-set multi-turn compensation values, recalculates the actual multi-turn position value at the current moment and the current actual multi-turn value. This actual multi-turn position value is fed back to the robotic arm's controller in real time for precise joint movement control. Simultaneously, the current actual multi-turn value is recorded in a non-volatile storage module, completing a data update. This process is repeated continuously throughout the entire power-on process, ensuring that the multi-turn position data of the robotic arm joints is continuously and accurately recorded.

[0080] When a power outage occurs during the operation of the robotic arm due to a sudden power failure, equipment maintenance, or normal shutdown, the non-volatile storage module, thanks to its characteristics, completely saves the latest multi-turn actual values ​​recorded at the moment of power failure. In this case, even if the virtual multi-turn absolute encoder itself does not have the function of remembering multi-turn data during power outages, the actual position values ​​will not be lost.

[0081] When the robotic arm is powered on and restarted, the initialization compensation unit of the multi-turn real-time recording and recovery algorithm module immediately starts. It reads the number of turns stored at the time of the last power outage from the non-volatile storage module and uses this initial number of turns as the multi-turn compensation value for the entire operation after power-on. Combined with the initial value fed back by the virtual multi-turn absolute encoder (i.e., the position feedback value queried periodically), and according to the multi-turn calculation logic, the system recalculates the actual multi-turn position value at the current moment and the current actual multi-turn value using the multi-turn compensation value, quickly completing the position calibration. Subsequently, the system enters normal operation, and the robotic arm can continue to perform tasks based on the recovered accurate position value without the need for complex manual calibration operations. This significantly improves the efficiency and reliability of the robotic arm and avoids task interruptions and operational errors caused by position data loss.

[0082] Therefore, compared with existing technologies, this invention adopts a non-volatile storage module and a multi-turn real-time recording and recovery algorithm module, realizing an integrated module design with the advantages of high integration and good real-time performance; in terms of cost, it reduces the overall cost; in terms of reliability, this invention does not rely on batteries or complex mechanical gear sets, avoiding problems such as battery aging and mechanical component wear, and improving the stability and service life of the system; in terms of functionality, through timed recording and automatic recovery mechanisms, no manual intervention is required, making operation more convenient and efficient.

[0083] As can be seen from the above embodiments, this invention, through the collaboration of a non-volatile storage module and an algorithm module, achieves automatic recording of virtual multi-turn absolute encoder position data after power failure and rapid recovery upon power-up, avoiding data loss and manual calibration. This not only ensures data integrity and improves device restart efficiency to the millisecond level, but also reduces purchase and maintenance costs by eliminating the need for batteries and complex mechanical structures. Furthermore, its standardized interface enables compatibility with multiple encoder models, making it widely applicable in industrial automation, aerospace, and other fields, providing a low-cost, highly reliable, and easily expandable solution for high-precision position detection and control.

[0084] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0085] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0086] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0087] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A system for recording and recovering the power-off position of a virtual multi-turn absolute encoder, characterized in that, The system includes: A virtual multi-turn absolute encoder is used to output position feedback values ​​in real time. A non-volatile storage module is used to store the actual values ​​of multiple revolutions of the multi-revolution real-time recording and recovery algorithm module at each power failure moment; The multi-turn real-time recording and recovery algorithm module includes an initialization compensation unit and a real-time calculation and recording unit. The initialization compensation unit is used to read the actual multi-turn values ​​of the multi-turn real-time recording and recovery algorithm module at the last power failure time from the non-volatile storage module during the power-on initialization phase, and use them as the multi-turn compensation values ​​for the entire current power-on operation. The real-time calculation and recording unit is used to calculate the actual multi-turn values ​​and the actual multi-turn positions at the current time based on the multi-turn compensation values, and to feed back the actual multi-turn positions at the current time to the external device and record the actual multi-turn values ​​at the current time to the non-volatile storage module.

2. The system according to claim 1, characterized in that, The real-time calculation and recording unit is used to calculate the actual values ​​of the current multi-lap positions and the actual values ​​of the current multi-lap positions based on the multi-lap compensation values, including: The position feedback value output by the virtual multi-turn absolute encoder is queried at set time intervals using a loop function. Calculate the actual value of the current multi-lap position and the actual value of the current multi-lap position based on the queried location feedback value and multi-lap compensation value.

3. The system according to claim 2, characterized in that, Feeding the current multi-lap position values ​​back to external devices includes: The actual value of the current multi-lap position is fed back to the host computer display to show the current multi-lap position; The actual value of the current multi-turn position is fed back to the controller to control the rotational movement of the rotatable device.

4. The system according to claim 2, characterized in that, Recording the current multi-lap actual values ​​to the non-volatile storage module includes: overwriting the previously recorded multi-lap actual values ​​with the current multi-lap actual values.

5. A method for recording and recovering the power-off position of a virtual multi-turn absolute encoder, characterized in that, The method includes: During the power-on initialization phase, the actual values ​​of multiple revolutions of the multi-revolution real-time recording and recovery algorithm module at the last power failure time are read from the non-volatile storage module. The non-volatile storage module stores the actual values ​​of multiple revolutions of the multi-revolution real-time recording and recovery algorithm module at each power failure time. The actual multi-turn value at the last power failure moment of the multi-turn real-time recording and recovery algorithm module is used as the multi-turn compensation value for the entire current power-on operation. Calculate the actual values ​​of the current multi-lap positions and the actual values ​​of the current multi-lap positions based on the multi-lap compensation values. The system feeds back the actual values ​​of the current multi-lap position to external devices and records the actual values ​​of the current multi-lap position to a non-volatile storage module.

6. The method according to claim 5, characterized in that, The calculation of the actual multi-lap values ​​and the actual multi-lap positions at the current time, based on the multi-lap compensation values, includes: The position feedback value output by the virtual multi-turn absolute encoder is queried at set time intervals using a loop function. Calculate the actual value of the current multi-lap position and the actual value of the current multi-lap position based on the queried location feedback value and multi-lap compensation value.

7. The method according to claim 6, characterized in that, Feeding the current multi-lap position values ​​back to external devices includes: The actual value of the current multi-lap position is fed back to the host computer display to show the current multi-lap position; The actual value of the current multi-turn position is fed back to the controller to control the rotational movement of the rotatable device.

8. The method according to claim 6, characterized in that, Recording the current multi-lap actual values ​​to the non-volatile storage module includes: overwriting the previously recorded multi-lap actual values ​​with the current multi-lap actual values.

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