A position measurement system and an initialization method for the system
By implementing a closed-loop process of freezing sampling, writing initialization parameters, and verification, the synchronization error problem during the initialization of the position measurement system was solved, the system's fault tolerance and self-healing capabilities were realized, and the stability and continuity of the position measurement system in complex environments were ensured.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- QUANZHOU KTSENSE MICROELECTRONICS CO LTD
- Filing Date
- 2026-04-29
- Publication Date
- 2026-05-29
AI Technical Summary
In the prior art, the position measurement system suffers from synchronization errors during initialization due to the MCU calculation delay and the asynchronous startup time of the incremental engine module, resulting in incorrect initialization parameters and affecting system stability and accuracy.
A closed-loop process of freezing sampling, writing initialization parameters, calculating release and verification is adopted to ensure that the absolute position calculation module and the incremental engine module sample at the same time. Data is locked by freezing state, and the synchronization state is detected by writing verification step to achieve atomic writing of parameters and repeated initialization to correct errors.
It improves the initialization success rate and long-term reliability of the position measurement system, ensures a seamless and continuous position feedback signal, and enhances the system's stability and robustness in complex environments.
Smart Images
Figure CN122108209A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of position sensor technology, and specifically to a position measurement system and an initialization method for the system. Background Technology
[0002] In industrial applications such as motor control, automation, and robotics, high-precision position feedback is fundamental to achieving precise motion control. To meet varying performance and cost requirements, position sensor technology has diversified. On one hand, feedback schemes, represented by incremental encoders, are widely integrated into various servo drives and motion controllers due to their simple interfaces and fast response speeds, forming the mainstream standard in industrial settings. On the other hand, to obtain instantaneous absolute position information upon power-on and avoid complex operations such as zeroing upon startup, absolute position sensors based on various physical principles (such as magnetism and optics) are also continuously evolving. However, in cost-sensitive applications with high dynamic performance requirements (such as white goods, small pan-tilt units, and power tools), effectively combining absolute position sensing capabilities with high-speed incremental interfaces meeting industrial standards has become a key technological challenge.
[0003] In existing technologies, a microcontroller (MCU) combined with multi-pole pair sensors is often used to acquire pole pair number information, i.e., the current pole pair position. Specifically, this approach typically includes a sensor array (e.g., a linear Hall sensor array) to sense magnetic field signals generated by a multi-pole pair magnetic ring or similar structure. These analog signals are gated by a multiplexer (MUX) and sampled by an analog-to-digital converter (ADC) before being fed into a microcontroller (MCU). The MCU processes the acquired multiple signals to calculate the corresponding pole pair number information for the current rotation axis. To provide the update rate required for a high-speed control loop, this approach introduces a separate incremental engine module. This incremental engine module can detect changes in electrical angle within the current magnetic pole pair at a high frequency. Upon power-up or initialization, the MCU uses its calculated pole pair number information as an initial value to configure the incremental engine module. The incremental engine, combined with its own real-time detected "angle within the pole pair," interpolates and calculates a high-precision incremental pulse signal, which is then continuously output.
[0004] However, the aforementioned existing technical solutions have significant drawbacks in practical applications. Because the MCU needs to poll and collect signals from multiple sensors and perform relatively complex calculations to obtain the pole number information, this process introduces a computational delay. Furthermore, the initialization configuration of the incremental engine module and its subsequent high-frequency counting are based on angle data calculated and provided by the MCU at a specific moment. This computational delay leads to synchronization errors between the two modules, potentially causing a discrepancy between the pole number information provided by the MCU and the actual physical position of the rotating axis when the incremental engine module begins counting. This could result in incorrect initialization parameters, leading to completely incorrect high-precision angles output by the incremental engine. This deviation directly causes a jump or step in the system's output position signal immediately after initialization. For high-dynamic, high-precision servo control systems, this initial position jump disrupts the control loop, potentially causing system oscillations or even operational instability, severely impacting the accuracy and smoothness of motion control. Summary of the Invention
[0005] The purpose of this application is to provide a position measurement system and an initialization method for the system. By freezing sampling, writing initialization parameters, calculating release and verifying, the method solves the problem of incorrect initialization parameter writing caused by the calculation delay of the absolute position calculation module and the asynchronous start time of the incremental engine module. Moreover, the position measurement system has a mechanism that can actively detect and correct initialization errors, ensuring data consistency during system initialization, which helps to improve the reliability and robustness of the position measurement system.
[0006] In a first aspect, this application provides an initialization method for a position measurement system, characterized in that the position measurement system includes an absolute position calculation module and an incremental engine module, and the method includes: an initialization writing step: controlling the absolute position calculation module and the incremental engine module to synchronously enter a frozen state to lock their data sampling; acquiring the first sampled data of the absolute position calculation module in the frozen state and the in-polar sampling angle of the incremental engine module in the frozen state; enabling the absolute position calculation module to determine initialization parameters based on the first sampled data and writing the initialization parameters into the incremental engine module; enabling the incremental engine module to calculate the first frame incremental position information based on the initialization parameters and the in-polar sampling angle, and releasing the frozen state, enabling the incremental engine module to start working based on the first frame incremental position information; a writing verification step: after the incremental engine module starts working, controlling the absolute position calculation module and the incremental engine module to enter a frozen state to acquire the first absolute position calculated by the absolute position calculation module and the first incremental position output by the incremental engine module at the same time, and calculating the first residual between the first absolute position and the first incremental position; judging whether the position measurement system meets the synchronization state based on the first residual, and confirming successful writing when the synchronization state is met; and re-executing the initialization writing step when the synchronization state is not met.
[0007] As can be seen from the above, the initialization closed-loop process of "freezing sampling - writing initialization parameters - calculating and unfreezing - writing verification - asynchronous rewriting" adopted in this application enables the position measurement system to have fault tolerance and self-healing capabilities. Even if initialization fails due to accidental interference such as instantaneous power fluctuations or signal interference, or due to the calculation delay of the absolute position calculation module and the asynchronous start time of the incremental engine module, the system can automatically detect and restart the initialization process until it succeeds. This improves the first-time success rate and long-term reliability of the position measurement system during initialization, thereby ultimately ensuring that the position measurement system obtains a seamless and continuous position feedback signal. Moreover, the two forced freeze operations in this initialization process ensure that the data used for calculation and comparison by the absolute position module and the incremental engine module come from the exact same physical time, eliminating the error caused by asynchronous sampling between modules, making the determination of the synchronization state highly reliable, and improving the reliability and robustness of the system initialization.
[0008] In the "initialization writing step", this application forces the absolute position calculation module and the incremental engine module to enter the frozen state synchronously, establish the same time reference, and lock the data sampling synchronization of the two modules. This makes the subsequently acquired sampling data come from the same sampling time in the system, which helps to reduce the sampling time deviation caused by the calculation delay of the absolute position calculation module and the asynchronous start time of the incremental engine module, thereby reducing the probability of initialization failure due to sampling asynchrony.
[0009] Furthermore, based on the first sampled data synchronized with the sampling time of the in-pole sampling angle of the incremental engine module, when the initialization parameters are determined and written to the incremental engine module, the incremental engine module can seamlessly and correctly splice the received initialization parameters with the in-pole sampling angle, thereby making the calculated first frame incremental position information more accurate.
[0010] After releasing the frozen state and allowing the incremental engine module to run based on the incremental position information of the first frame, a write verification step is executed. The sampling times of the two modules are then forcibly aligned again by freezing, thereby obtaining the first absolute position independently calculated by the absolute position module and the first incremental position extrapolated by the incremental engine from its accurate starting point at the same time. The first residual between the two is then calculated. This first residual is used as a verification indicator to determine whether the synchronization state is met. If the synchronization state is not met, it indicates that the initialization write process has failed, triggering a re-execution of the initialization write step. Because write verification is performed immediately after the incremental engine starts, synchronization errors in the initialization write step can be detected immediately. If verification fails, the initialization write is re-executed, ensuring the continuity of the first and subsequent position signals output when the system starts, avoiding instantaneous jumps. This ensures continuous position signals without jumps after normal operation, facilitating data consistency during system initialization. Furthermore, the system has a mechanism to actively detect and correct initialization errors. Even if initialization fails due to momentary interference, the position measurement system can automatically recover through retrying, improving the reliability and robustness of system initialization. Especially in complex electromagnetic environments or harsh operating conditions, it helps to improve the probability and stability of successful system power-on.
[0011] In one possible implementation, the initialization parameters are atomically written into the incremental engine module.
[0012] As can be seen from the above, the initialization parameter write operation in this application is "atomic," meaning it cannot be interrupted during the write operation. For the incremental engine, the parameter value jumps instantly and completely from the old state to the new state, which helps avoid inconsistent and confused erroneous data during non-atomic write processes (such as multi-byte writes), thus preventing calculation errors in the first frame incremental position information. This atomic write operation in this application guarantees the consistency of data during the write "process." Combined with frozen sampling, it further reduces the possibility of errors occurring on the parameter transmission path, making the data source used for calculation more robust and reliable.
[0013] In one possible implementation, the method also includes: outputting the first frame incremental position information of the incremental engine module after smoothing.
[0014] As can be seen from the above, smoothing the position information of the first frame calculated by the incremental engine can filter out computational noise or instantaneous disturbances, thereby solving the problem that the output incremental position information of the first frame may be unstable in the initial transient.
[0015] In one possible implementation, the initialization parameter is the pole-log information.
[0016] In one possible implementation, the method further includes: after determining that the synchronization state is met in the write verification step, performing intermittent verification operations during the operation of the position measurement system; if the intermittent verification operations are executed consecutively a preset number of times and all are determined to meet the synchronization state, then the incremental engine module is confirmed to be successfully initialized; if any intermittent verification operation determines that the synchronization state is not met, then the initialization write step is re-executed.
[0017] As can be seen from the above, during the operation after the location measurement system determines that it has entered the synchronization state in the write verification step, residual verification is performed intermittently. In the initial operation phase after startup, the system needs to pass a preset number of consecutive verifications to finally confirm the initialization success. This improves the judgment standard for initialization success. If any verification fails to meet the synchronization state, the entire process starting from the "initialization write step" is re-executed. This helps to avoid the problem that a single verification may pass due to accidental factors, causing the system to misjudge an unreliable or unstable synchronization state as successful, thus outputting erroneous data for a long period of operation. Moreover, this mechanism helps to improve the confidence of initialization success, especially for the long-term operation of the location measurement system, providing a reliable initialization basis.
[0018] Furthermore, the intermittent verification operation includes: the position measurement system is provided with intermittent verification conditions; when the position measurement system meets the intermittent verification conditions, the absolute position calculation module and the incremental engine module are controlled to enter a frozen state to obtain the second absolute position calculated by the absolute position calculation module and the second incremental position output by the incremental engine module at the same time, and calculate the second residual; based on the second residual, it is determined whether the position measurement system meets the synchronization state.
[0019] Furthermore, the intermittent verification conditions include: the runtime of the position measurement system since the most recent determination that it meets the synchronization state is greater than or equal to the preset duration, or the position measurement system receives an external trigger command.
[0020] In one possible implementation, determining whether the position measurement system meets the synchronization state based on the second residual includes: comparing the absolute value of the second residual with a preset threshold; if the absolute value of the second residual is less than the preset threshold, it is determined that the synchronization state is met.
[0021] In one possible implementation, the method includes: the position measurement system is a multi-pole pair system; the multi-pole pair system includes a vernier system or an M-sequence encoding system.
[0022] The absolute position calculation module calculates the first sampled data based on the magnetic or optical sensing signals detected by the sensor array connected to it.
[0023] In a second aspect, this application provides a position measurement system, which includes an absolute position calculation module and an incremental engine module configured to perform the initialization method for the position measurement system in the first aspect. Attached Figure Description
[0024] Figure 1 This is a schematic diagram of a position measurement system provided in Embodiment 1 of this application; Figure 2 This is a flowchart of an initialization method for a position measurement system provided in Embodiment 2 of this application. Detailed Implementation
[0025] Please refer to Figure 1 As shown, Figure 1 The position measurement system 100 provided in Embodiment 1 of this application is a multi-pole system, specifically a vernier system or an M-sequence encoding system. The position measurement system 100 includes a sensor array 110, an absolute position calculation module 120, and an incremental engine module 130, and is capable of executing the initialization method described in Embodiment 2 below.
[0026] In this embodiment, the sensor array 110 is used to detect changes in physical position and generate corresponding sensing signals. For example, in one specific application, the sensor array 110 may be multiple linear Hall sensors arranged in a specific geometric pattern to sense the periodic magnetic field changes generated when a multipole pair magnetic ring rotates. In other embodiments, the sensor array 110 may also be a photodetector array to read the M-sequence encoding or other multipole pair optical patterns on a grating encoding disk.
[0027] In this embodiment, the absolute position calculation module 120 is connected to the sensor array 110 and is used to receive and process the sensing signals from the sensor array 110 to calculate the absolute position information of the mechanical axis. The absolute position calculation module 120 includes a microcontroller (MCU), an application-specific integrated circuit (ASIC), or a programmable logic device (PLC), used to decode, interpolate, and perform vernier operations on multiple signals, ultimately outputting a value such as the pole pair number (i.e., the current magnetic pole pair or grating period) and / or a high-precision absolute angle value. The absolute position calculation module 120 may also include a multiplexer (MUX) and an analog-to-digital converter (ADC). The sensing signals output from the sensor array 110 are selected by the multiplexer (MUX) and sampled by the ADC before being transmitted to the microcontroller (MCU), ASIC, or PLC for subsequent calculation processing.
[0028] In this embodiment, the incremental engine module 130 is used to track position changes at high frequency and output standard incremental pulse signals (such as A / B / Z phase or UVW signals). The incremental engine module 130 can be a separate chip or integrated with the absolute position calculation module 120 on the same chip.
[0029] In this embodiment, "frozen state" refers to a controlled operating mode in which the absolute position calculation module 120 and the incremental engine module 130 suspend their normal, continuous data sampling or output update process, locking the data at a specific moment or under specific conditions. The frozen state can be implemented through hardware control signals (such as enable pins), software configuration registers (such as setting a freeze flag), or specific synchronization instructions.
[0030] See Figure 2 As shown, Figure 2 This application provides an initialization method for a position measurement system, as described in Embodiment 2. This initialization method is executed when the position measurement system 100 is powered on or receives an initialization command. Specifically, the initialization method for the position measurement system includes: S200: Initialization writing steps: Control the absolute position calculation module and the incremental engine module to synchronously enter the frozen state to lock their data sampling; acquire the first sampled data of the absolute position calculation module in the frozen state, and the in-polar sampling angle of the incremental engine module in the frozen state; enable the absolute position calculation module to determine the initialization parameters based on the first sampled data, and write the initialization parameters to the incremental engine module; enable the incremental engine module to calculate the incremental position information of the first frame based on the initialization parameters and the in-polar sampling angle, and release the frozen state, enabling the incremental engine module to start working based on the incremental position information of the first frame.
[0031] Specifically, in this embodiment of the application, the system controller in the position measurement system 100 issues a freeze command to the absolute position calculation module 120 and the incremental engine module 130, controlling the absolute position calculation module 120 and the incremental engine module 130 to enter a frozen state. In the frozen state, the sampling of the raw signals or internal intermediate variables from the sensor array 110 by the absolute position calculation module 120 and the incremental engine module 130 is locked, ensuring that the data used for subsequent calculations corresponds to the same moment.
[0032] The system controller may be the absolute position calculation module 120, or a higher-level control unit in the position measurement system 100.
[0033] The absolute position calculation module 120 acquires the first sampled data locked in the frozen state. Specifically, the first sampled data can be an absolute position value. Taking the position measurement system 100 as a vernier magnetic ring system with a main magnetic track (M pole pair) and a secondary magnetic track (N pole pair, usually M=N+1), and the sensor array 110 including a first linear Hall sensor array and a second linear Hall sensor array as an example, the first sampled data can include the main magnetic track angle value Pm output from the first linear Hall sensor array and the secondary magnetic track angle value Pn output from the second linear Hall sensor array.
[0034] The incremental engine module 130 obtains the sampling angle within the pole pair in the frozen state. Similarly, taking the position measurement system 100 as an example of a vernier magnetic ring system with a main magnetic rail (M pole pair) and a secondary magnetic rail (N pole pair, usually M=N+1), the sampling angle within the pole pair is the electrical angle detected by the incremental engine module 130 within the single pole pair in which it is located.
[0035] Specifically, in this embodiment of the application, the initialization parameter is the pole pair number information. The absolute position calculation module 120 determines the initialization parameter based on the first sampled data. Taking the position measurement system 100 as a vernier magnetic ring system with a main magnetic track (M pole pair) and a secondary magnetic track (N pole pair, usually M=N+1) as an example, the absolute position calculation module 120 can obtain the pole pair number by looking up a table based on Pm and Pn. The absolute position calculation module 120 can also perform vernier operation based on Pm and Pn to calculate the current pole pair number. This vernier operation method can be an existing operation method, which will not be specifically described here.
[0036] In other embodiments of this application, the initialization parameters may also be other parameters, such as angles, that enable the incremental engine module to calculate the incremental position information of the first frame by combining the sampling angle within the pole pair that it locks when frozen, after being written into the incremental engine module.
[0037] Specifically, in this embodiment of the application, initialization parameters are written to the incremental engine module 130. This write operation is atomic, meaning that the write process (including possible data bus transmission and register writing) is a single, uninterrupted operation. This prevents partial parameter updates due to system intervention during the write process, which could cause internal state chaos in the incremental engine and thus help ensure the integrity of data transmission. This atomic write operation guarantees data consistency during the write "process," and combined with frozen sampling, it further reduces the possibility of errors in the parameter transmission path, making the data source used for calculation more robust and reliable. Alternatively, in other embodiments of the application, the write operation can also be non-atomic; this is not limited here.
[0038] After receiving the written initialization parameters, the incremental engine module 130 calculates the incremental position information of the first frame by combining it with the in-pole sampling angle locked during freezing. Specifically, in this embodiment, the method for calculating the incremental position of the first frame based on the initialization parameters and the in-pole sampling angle can be an existing calculation method. For example, when the initialization parameter is the pole-log number information, the calculation method can be: Incremental position of the first frame = In-pole sampling angle − Pole-log number information × 2π. Depending on the initialization parameters, the calculation method used will also be different. Other existing calculation methods can also be used to calculate the incremental position of the first frame based on the initialization parameters and the in-pole sampling angle, which will not be elaborated here.
[0039] After calculating the incremental position information of the first frame, the system controller is released from the frozen state. The incremental engine module 130 starts working based on the incremental position information of the first frame and begins normal high-frequency position tracking and pulse output.
[0040] Specifically, in this embodiment of the application, the first frame incremental position information of the incremental engine module 130 is smoothed before being output. This smoothing process can include passing it through a first-order low-pass digital filter, or averaging it over several consecutive calculation cycles. The smoothed output filters out or suppresses any high-frequency glitches or minor fluctuations that may occur when the incremental engine module switches from frozen static to dynamic operation, due to internal circuit power-on stabilization, phase-locked loop locking, or initial quantization noise. This solves the problem of potential instability in the initial transient of the output first frame incremental position information, which is particularly crucial for high-sensitivity scenarios.
[0041] S201: Write verification step: After the incremental engine module starts working, control the absolute position calculation module and the incremental engine module to enter a frozen state to obtain the first absolute position calculated by the absolute position calculation module and the first incremental position output by the incremental engine module at the same time, and calculate the first residual between the first absolute position and the first incremental position; based on the first residual, determine whether the position measurement system meets the synchronization state. If it is determined that the synchronization state is met, the write is confirmed to be successful; if it is determined that the synchronization state is not met, the initialization write step is re-executed.
[0042] Specifically, in this embodiment of the application, a write verification operation is performed shortly after the incremental engine module 130 starts working (e.g., a few microseconds). Because the write verification is performed immediately after the incremental engine starts, synchronization errors in the initialization write step can be detected immediately.
[0043] In this embodiment of the application, the position measurement system 100 is judged to meet the synchronization state based on the first residual. The specific judgment logic can be as follows: the absolute value of the first residual is compared with a preset threshold. If the absolute value of the first residual is less than the preset threshold, it is judged that the synchronization state is met, confirming that the initialization parameter writing was successful and that the absolute position calculation module 120 and the incremental engine module 130 are synchronized. If the absolute value of the first residual is greater than or equal to the preset threshold, it is judged that the synchronization state is not met. The initialization writing step may have a deviation due to some interference (such as vibration or noise at the moment of writing), and the position measurement system 100 re-executes the initialization writing step S200 until the writing verification is successful. The preset threshold is set according to the system accuracy requirements.
[0044] This embodiment of the application employs a closed-loop initialization process of "freezing sampling - writing initialization parameters - calculating and unfreezing - writing verification - asynchronous rewriting," which enables the position measurement system to have fault tolerance and self-healing capabilities. Even if initialization fails due to accidental interference such as instantaneous power fluctuations or signal interference, or due to the calculation delay of the absolute position calculation module and the asynchronous startup time of the incremental engine module, the system can automatically detect and restart the initialization process until it succeeds. This improves the first-time success rate and long-term reliability of the position measurement system during initialization, thereby ultimately ensuring that the position measurement system obtains a seamless and continuous position feedback signal. Moreover, the two forced freeze operations in this initialization process ensure that the data used for calculation and comparison by the absolute position module and the incremental engine module come from the exact same physical time, eliminating errors caused by asynchronous sampling between modules. This makes the determination of the synchronization state highly reliable, improving the reliability and robustness of the system initialization.
[0045] Compared to the existing one-time, open-loop parameter transfer, the initialization closed-loop process of "freezing sampling - writing initialization parameters - calculating thawing - writing verification - asynchronous rewriting" in the embodiment of this application has one-time fault tolerance and self-healing capability for initialization failure, improves the robustness of initialization success, and thus ultimately ensures that the servo system obtains a non-jumping, continuous position feedback signal.
[0046] The initialization writing step freezes the sampling time to ensure that the first sampled data and the sampling angle within the pole pair come from the same time, establishing a spatiotemporal reference without random deviation. Then, writing, calculating, and starting based on the initialization parameters obtained at the same time ensures that the "first frame incremental position information" calculated by the incremental engine is exactly equal to the actual position at the freeze time, which is beneficial for obtaining an accurate internal counting start point and improving the first-time success rate and long-term reliability of system initialization. Immediate freezing verification after writing allows for real-time judgment of the initialization writing process. If verification fails, the initialization writing is re-initialized, ensuring the continuity of the first and subsequent position signals output at system startup, avoiding instantaneous jumps, and outputting continuous position signals without jumps after normal operation. This helps ensure data consistency during system initialization. Furthermore, the system has a mechanism to actively detect and correct initialization errors. Even if initialization fails due to instantaneous interference, the position measurement system can automatically recover through retrying, improving the reliability and robustness of system initialization. This is particularly beneficial for complex electromagnetic environments or harsh operating conditions, increasing the probability and stability of successful system power-on.
[0047] Furthermore, in this embodiment of the present application, the initialization method of the position measurement system further includes: after the synchronization state is determined to be met in the write verification step, an intermittent verification mechanism is added during the operation of the position measurement system. After the synchronization state is verified in the write verification step S201, the position measurement system 100 continues to perform an intermittent verification operation for a preset number of times. Only when the synchronization state is determined to be met for the preset number of consecutive intermittent verification operations is the incremental engine module 130 finally confirmed to be successfully initialized. If any intermittent verification operation in this confirmation stage is determined to be not satisfied with the synchronization state, the complete initialization process starting from the initialization write step S200 is immediately re-executed.
[0048] Specifically, in this embodiment of the application, the preset number of times can be set according to needs, such as 8 times, 16 times, 64 times or 256 times. It is preferred that the preset number of times is set to be greater than 16 times. The larger the preset number of times, the more intermittent verification operations are performed, and the higher the system reliability.
[0049] In complex industrial environments, a single successful verification may be accidental (e.g., the verification moment happens to be free of interference, or the residual happens to fall within a threshold due to noise), potentially causing the system to misjudge a actually unstable synchronization state as final success. Setting the initialization success criterion to multiple consecutive successful residual verifications improves the confidence of the initialization success determination, fundamentally avoiding misjudgments due to a single accidental pass, and ensuring that the initial synchronization state upon which the system ultimately relies is robust and reliable. This approach provides a reliable initialization foundation, especially for position measurement systems that require long-term operation.
[0050] Specifically, in this embodiment of the application, the position measurement system 100 is provided with intermittent verification conditions. During the initialization success confirmation phase, whenever the intermittent verification conditions are met, the position measurement system 100 controls the absolute position calculation module 120 and the incremental engine module 130 to enter a frozen state to obtain the second absolute position calculated by the absolute position calculation module 120 and the second incremental position output by the incremental engine module 130 at the same time, and calculates the second residual; based on the second residual, it is determined whether the position measurement system 100 meets the synchronization state. If the position measurement system 100 obtains the result of "meeting the synchronization state" in a consecutive preset number of intermittent verification operations, the system finally confirms that the initialization process is completed, and the incremental engine module 130 can then enter a stable long-term operation mode. Conversely, if any judgment in the continuous verification process is that the synchronization state is not met, the position measurement system 100 determines that the initialization has failed. At this time, the position measurement system 100 re-executes the intermittent verification process from the initialization writing step S200, to the writing verification step S201, and then to the writing verification step after the judgment that the synchronization state is met.
[0051] Specifically, the intermittent verification conditions may be: the runtime of the position measurement system 100 when it was last determined to be in a synchronized state is greater than or equal to a preset duration, or the position measurement system 100 receives an external trigger command, such as responding to a user's operation on a trigger button or sending an external trigger command to the position measurement system 100 via remote communication, in order to perform the intermittent verification operation.
[0052] Specifically, determining whether the position measurement system 100 meets the synchronization requirements based on the second residual includes: comparing the absolute value of the second residual with a preset threshold; if the absolute value of the second residual is less than the preset threshold, it is determined that the synchronization requirement is met; if the absolute value of the second residual is greater than or equal to the preset threshold, it is determined that the synchronization requirement is not met. The preset threshold set in this second residual verification is determined according to the system accuracy requirements.
[0053] Finally, it should be emphasized that the above description is only a preferred embodiment of this application and is not intended to limit this application. For those skilled in the art, this application can have various changes and modifications. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.
Claims
1. An initialization method for a position measurement system, characterized in that, The position measurement system includes an absolute position calculation module and an incremental engine module, and the method includes: Initialization writing steps: Control the absolute position calculation module and the incremental engine module to synchronously enter a frozen state to lock their data sampling; acquire the first sampled data of the absolute position calculation module in the frozen state, and the in-polar sampling angle of the incremental engine module in the frozen state; enable the absolute position calculation module to determine initialization parameters based on the first sampled data, and write the initialization parameters into the incremental engine module; enable the incremental engine module to calculate the first frame incremental position information based on the initialization parameters and the in-polar sampling angle, and release the frozen state, enabling the incremental engine module to start working based on the first frame incremental position information; Write verification steps: After the incremental engine module starts working, the absolute position calculation module and the incremental engine module are controlled to enter a frozen state to obtain the first absolute position calculated by the absolute position calculation module and the first incremental position output by the incremental engine module at the same time, and calculate the first residual between the first absolute position and the first incremental position; based on the first residual, it is determined whether the position measurement system meets the synchronization state. If it is determined that the synchronization state is met, the write is confirmed to be successful; if it is determined that the synchronization state is not met, the initialization write step is re-executed.
2. The initialization method for a position measurement system according to claim 1, characterized in that: The initialization parameters are atomically written into the incremental engine module.
3. The initialization method for a position measurement system according to claim 1, characterized in that, The method further includes: The incremental position information of the first frame of the incremental engine module is output after smoothing.
4. The initialization method for a position measurement system according to claim 1, characterized in that: The initialization parameters are pole-log number information.
5. The initialization method for a position measurement system according to any one of claims 1-4, characterized in that, The method further includes: Once the synchronization state is satisfied during the write verification step, an intermittent verification operation is performed during the operation of the position measurement system. If the intermittent verification operation is executed consecutively a preset number of times and is consistently satisfied with the synchronization state, the incremental engine module is confirmed to have been successfully initialized. If any intermittent verification operation is determined to be unsatisfactory, the initialization write step is re-executed.
6. The initialization method for a position measurement system according to claim 5, characterized in that, The intermittent verification operation includes: The position measurement system is provided with an intermittent verification condition. When the position measurement system meets the intermittent verification condition, the absolute position calculation module and the incremental engine module are controlled to enter a frozen state to obtain the second absolute position calculated by the absolute position calculation module and the second incremental position output by the incremental engine module at the same time, and calculate the second residual; based on the second residual, it is determined whether the position measurement system meets the synchronization state.
7. The method according to claim 6, characterized in that, The intermittent verification conditions include: the runtime of the position measurement system in the most recent determination that the synchronization state is satisfied is greater than or equal to a preset duration, or the position measurement system receives an external trigger command.
8. The method according to claim 6, characterized in that, The step of determining whether the position measurement system meets the synchronization state based on the second residual includes: comparing the absolute value of the second residual with a preset threshold; if the absolute value of the second residual is less than the preset threshold, it is determined that the synchronization state is met.
9. The initialization method for a position measurement system according to any one of claims 1-4, characterized in that, The method includes: The position measurement system is a multi-pole pair system; the multi-pole pair system includes a vernier system or an M-sequence encoding system; The absolute position calculation module calculates the first sampled data based on the magnetic sensing signal or optical sensing signal detected by the sensor array connected to it.
10. A position measurement system comprising an absolute position calculation module and an incremental engine module configured to perform an initialization method for a position measurement system as described in any one of claims 1-9.