A servo turntable magnetic grid encoder error dynamic compensation system and method

Abstract

This invention belongs to the field of encoder error compensation technology, specifically relating to a dynamic error compensation system and method for a servo turntable magnetic encoder. The solution organically integrates encoder full-cycle power-off restart detection, dual-reading head reading fusion, and personalized dynamic error compensation, systematically solving the problems of unreliable power-on repeatability accuracy, compensation curve transplantation failure, and low full inspection efficiency of magnetic encoders in servo turntable applications, significantly improving the actual accuracy and reliability of the encoder.

Description

Technical Field

[0001] This invention belongs to the field of encoder error compensation technology, specifically relating to a dynamic error compensation system and method for a servo turntable magnetic encoder. Background Technology

[0002] Servo rotary tables are key equipment in the fields of precision machining and measurement. The magnetic encoder, as its angle feedback unit, directly affects the positioning and repeatability accuracy of the rotary table. In servo rotary table applications, the encoder not only needs to provide accurate angles when continuously powered on, but also needs to maintain high precision after each power outage and restart. Therefore, higher requirements are placed on the encoder's error detection and dynamic compensation.

[0003] Currently, conventional testing of magnetic encoders typically employs a single-station, continuous-rotation data acquisition method. This method only reflects accuracy under continuous power-on conditions and cannot detect potential issues arising from repeated power-on and power-off cycles in actual use. When the encoder's assembly error is within the allowable limit, power-off and restart at certain angles can easily lead to misjudgments of the magnetic pole cycle during chip initialization, resulting in an angular deviation of 1° to 3°, severely compromising the power-on positioning accuracy of the servo turntable. Secondly, in the traditional single-readhead architecture, installation eccentricity introduced by the testing fixture can introduce error data, making it impossible to reliably transfer the calibrated compensation curve to the actual installation environment of the servo turntable, leading to compensation transfer failure. Furthermore, existing testing methods can only process a single encoder at a time, resulting in low efficiency and making it impossible to achieve full inspection in mass production. Summary of the Invention

[0004] This invention addresses the problems existing in the prior art by providing a dynamic error compensation system and method for a servo turntable magnetic encoder, effectively solving the problems present in the prior art.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A servo turntable magnetic encoder error dynamic compensation system includes: The magnetic encoder detection module is configured to rotate one revolution with a preset angle as the step size, acquire the reading error of the magnetic encoder under test at each step position, and obtain a reading error sequence; wherein, the magnetic encoder under test is powered off and restarted once for each step, and the magnetic encoder under test is used to acquire readings with dual reading heads spaced 180° apart; The error curve fitting module is configured to: perform data fitting based on the obtained reading error sequence to obtain an error curve, and write the error curve into the non-volatile storage of the current magnetic encoder; The error dynamic compensation module is configured as follows: in actual use, the average reading of the dual reading heads is used as the initial reading; the initial reading is substituted into the error curve to obtain the reading error; the initial reading is subtracted from the reading error to obtain the final reading, thereby realizing error dynamic compensation.

[0006] Furthermore, the magnetic encoder detection module is also configured to mark the current magnetic encoder as needing adjustment when the reading error at any step position exceeds a preset threshold.

[0007] Furthermore, the reading error is obtained by subtracting the step size from the difference between the readings of adjacent step positions, wherein the reading at each step position is the average of the readings of the dual reading heads of the magnetic encoder under test.

[0008] Furthermore, an error curve is independently fitted for each magnetic encoder under test, and each error curve is written into the non-volatile storage of the corresponding magnetic encoder; wherein, the error curve is fitted using polynomial fitting or Fourier series fitting.

[0009] Furthermore, the magnetic encoder detection module includes a torque motor, a cascaded shaft, a reference encoder, and a servo driver; One end of the cascaded shaft is connected to the rotor of the torque motor, and the other end is connected to the rotor of the magnetic encoder under test, so that the two rotate synchronously. The reference encoder is used to provide an angle reference, and the reference encoder is coaxially arranged with the torque motor and the magnetic encoder under test. The servo driver is connected to the reference encoder and the torque motor respectively. The servo driver is used to control the torque motor to rotate in steps at a preset angle according to the feedback of the reference encoder.

[0010] Furthermore, the cascaded shaft is composed of several single shaft sections cascaded together. Each single shaft section is detachably connected to the rotor of a magnetic encoder under test. The single shaft section includes a bearing part and a cascaded part fixedly connected to the bearing part. The bearing part is provided with a fixed threaded hole and a cascaded through hole.

[0011] Furthermore, the magnetic encoder detection module also includes an indexing pin fixing arm, an indexing pin, and a power control submodule; wherein: The indexing pin fixing arm is fixed to the base of the torque motor; The indexing pin is disposed on the indexing pin fixing arm, and the indexing pin is used to fix the stator of the magnetic encoder under test; The power control submodule is connected to the power supply interface of the magnetic encoder under test and the main controller, respectively. The power control submodule is used to control the power supply of the magnetic encoder under test according to the instructions of the main controller.

[0012] A method for dynamic error compensation of a servo turntable magnetic encoder, based on the aforementioned dynamic error compensation system for a servo turntable magnetic encoder, includes: The encoder rotates one revolution with a preset angle as the step size, and the reading error of the magnetic encoder under test is obtained at each step position to obtain the reading error sequence; wherein, the magnetic encoder under test is powered off and restarted once for each step, and the magnetic encoder under test is used to acquire readings with dual reading heads spaced 180° apart; Data fitting is performed based on the reading error sequence to obtain an error curve, and the error curve is written into the non-volatile storage of the current magnetic encoder. In practical use, the average reading of the two reading heads is used as the initial reading. The initial reading is substituted into the error curve to obtain the reading error. The final reading is obtained by subtracting the reading error from the initial reading, thus realizing dynamic error compensation.

[0013] Compared with the prior art, the advantages and positive effects of the present invention are as follows: The present invention provides a dynamic error compensation system and method for a servo turntable magnetic encoder. The solution organically integrates encoder full-cycle power-off restart detection, dual-reading head reading fusion, and personalized error dynamic compensation, systematically solving the problems of unreliable accuracy of magnetic encoders during repeated power-on, failure of compensation curve transplantation, and low full inspection efficiency in servo turntable applications, effectively improving the actual accuracy and reliability of the encoder.

[0014] The solution described in this invention simulates the repeated power-on and power-off conditions in actual use by using a full-cycle detection method that restarts after each step. This covers the power-on initialization process of the encoder at all sampling angle positions, effectively capturing the magnetic pole cycle misjudgment deviation (1° to 3°) caused by assembly errors. Based on a preset threshold, it automatically filters defective products, thus preventing defective encoders from entering the servo turntable application process to a certain extent.

[0015] The solution described in this invention employs a dual-reading head architecture spaced 180° apart. The reading at each step position is taken from the average of the dual-reading head readings, automatically canceling out the first-order error introduced by installation eccentricity at the signal fusion level. Simultaneously, the reading error for that step is obtained by subtracting the step length from the reading difference between adjacent step positions. This ensures that the error data only reflects the deviation between the encoder's inherent error and the standard step length, and is unrelated to the absolute installation error of the reference encoder. The resulting error curve is decoupled from the installation conditions of the testing fixture and turntable. Regardless of the encoder's installation posture on the testing platform, its calibrated compensation curve can be directly transplanted and used in the actual installation environment of the servo turntable. This makes the compensation effectiveness unconstrained by the consistency of fixture assembly, significantly improving the reliability and adaptability of dynamic error compensation.

[0016] The proposed scheme achieves independent dynamic compensation for each encoder by independently fitting an error curve and writing it into its non-volatile memory. This allows the encoder to automatically load its own compensation parameters each time it is powered on on the servo turntable. The average reading of the dual reading heads is used as the initial reading and substituted into the error curve to obtain the correction amount, which is then corrected and output in real time. This results in independent dynamic compensation for the encoder, which significantly improves accuracy compared to general compensation schemes. Moreover, the compensation process is completely transparent to the turntable control system.

[0017] The proposed solution utilizes a multi-station design with cascaded shafts connecting multiple encoder rotors to achieve simultaneous full-cycle power-off restart detection and error data acquisition for multiple encoders in a single rotation. This significantly improves detection efficiency and makes it possible to perform personalized error compensation for each encoder efficiently and economically. It also upgrades the magnetic encoder accuracy assurance mode from random sampling to full inspection. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below: Figure 1 This is a schematic diagram of the overall structure of a servo turntable magnetic encoder error dynamic compensation system as described in an embodiment of the present invention; Figure 2 This is a flowchart of a servo turntable magnetic encoder error dynamic compensation method according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the data interaction of each component in the magnetic encoder detection module described in this embodiment of the invention; Figure 4 This is a three-dimensional structural diagram of the magnetic encoder detection module described in an embodiment of the present invention; Figure 5 This is a front view of the magnetic encoder detection module structure described in this embodiment of the invention; Figure 6 This is a schematic diagram of a single shaft structure in a cascaded shaft as described in an embodiment of the present invention; The components include: 1. Base; 2. Torque motor; 3. Reference encoder; 4. Cascade shaft; 4-1. Single shaft section; 4-1-1. Fixed threaded hole; 4-1-2. Cascade through hole; 5. Indexing pin fixed support arm; 6. Indexing pin; 7. Magnetic encoder under test. Detailed Implementation

[0019] To better understand the above-mentioned objectives, features and advantages of the present invention, the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0020] Numerous specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways than those described herein, and therefore the invention is not limited to the specific embodiments disclosed in the following specification.

[0021] Example 1 The non-destructive evaluation method for cable microstructure based on AC impedance spectrum in Example 1 will be described in detail below with reference to the accompanying drawings.

[0022] In one or more embodiments, such as Figure 1 As shown, a servo turntable magnetic encoder error dynamic compensation system includes: The magnetic encoder detection module is configured to rotate one revolution with a preset angle as the step size, acquire the reading error of the magnetic encoder 7 under test at each step position, and obtain a reading error sequence; wherein, the magnetic encoder 7 under test is powered off and restarted once for each step, and the magnetic encoder 7 under test is used to acquire readings with dual reading heads spaced 180° apart; The error curve fitting module is configured to: perform data fitting based on the obtained reading error sequence to obtain an error curve, and write the error curve into the non-volatile storage of the current magnetic encoder; The error dynamic compensation module is configured as follows: in actual use, the average reading of the dual reading heads is used as the initial reading; the initial reading is substituted into the error curve to obtain the reading error; the initial reading is subtracted from the reading error to obtain the final reading, thereby realizing error dynamic compensation.

[0023] In one or more embodiments, an error curve is independently fitted for each magnetic encoder 7 under test, and each error curve is written into the non-volatile storage of the corresponding magnetic encoder; wherein, the error curve is fitted using polynomial fitting or Fourier series fitting.

[0024] In practice, each magnetic encoder under test 7 is fitted with an independent error curve, that is, each encoder has its own compensation curve, rather than all encoders sharing a common set of parameters. The fitting of the compensation curve is preferably a 5th-order polynomial fitting, which can achieve a better balance between fitting accuracy and computational complexity.

[0025] In the scheme described in this embodiment, the non-volatile storage adopts EEPROM, and the compensation curve can be written through the I²C interface or SPI interface. After writing, the compensation curve is solidified as its exclusive feature along with the magnetic encoder, and can still be independently recalled when the encoder is removed from the detection fixture.

[0026] In practical implementation, the error curve fitting module is used in the actual use of the magnetic encoder on the servo turntable. When the encoder is powered on, it automatically loads the error curve from the EEPROM. When an angle is output each time, the average value of the readings of the two reading heads is used as the initial reading. The initial reading is substituted into the error curve to obtain the reading error corresponding to the angle position. Then, the initial reading is subtracted from the reading error to obtain the corrected final reading, which is then output. The entire compensation process is automatically completed inside the encoder chip and is completely transparent to the control system of the servo turntable. That is, when the controller requests an angle, the encoder directly returns the corrected high-precision angle value without the controller participating in the compensation calculation.

[0027] In one or more embodiments, such as Figures 3 to 5 As shown, the magnetic encoder detection module includes a torque motor 2, a cascaded shaft 4, a reference encoder 3, and a servo driver, all mounted on the base 1. One end of the cascaded shaft 4 is connected to the rotor of the torque motor 2, and the other end is connected to the rotor of the magnetic encoder 7 under test, so that the two rotate synchronously. The reference encoder 3 is used to provide an angle reference, and the reference encoder 3 is coaxially arranged with the torque motor 2 and the magnetic encoder under test 7. The servo driver is connected to the reference encoder 3 and the torque motor 2 respectively. The servo driver is used to control the torque motor 2 to rotate in steps at a preset angle according to the feedback of the reference encoder 3.

[0028] In one or more embodiments, such as Figure 5 and Figure 6 As shown, the cascaded shaft 4 is composed of several single shaft sections 4-1 cascaded together. Each single shaft section 4-1 is detachably connected to the rotor of a magnetic encoder 7 under test. The single shaft section 4-1 includes a bearing part and a cascaded part fixedly connected to the bearing part. The bearing part is provided with a fixed threaded hole 4-1-1 and a cascaded through hole 4-1-2. Furthermore, the bearing part is also provided with a groove for adapting to the cascaded parts of adjacent single shaft sections 4-1.

[0029] For ease of understanding, the following description, in conjunction with the accompanying drawings, illustrates the installation of the magnetic encoder 7 under test on the cascaded shaft 4. Specifically: like Figure 6As shown, the magnetic encoder 7 under test is disposed between two single-section shafts 4-1 (e.g., the first single-section shaft and the second single-section shaft). In a specific implementation, the rotor of the magnetic encoder 7 under test is provided with through holes that are adapted to the positions of the fixing threaded hole 4-1-1 of the first single-section shaft and the cascade through hole 4-1-2 of the second single-section shaft. First, the through holes on the rotor of the encoder under test are respectively aligned with the positions of the fixing threaded hole 4-1-1 of the first single-section shaft and the cascade through hole 4-1-2 of the second single-section shaft, and then the three are fixedly connected by a threaded rod. Based on the above logic, multiple magnetic encoders 7 under test can be cascaded.

[0030] In one or more embodiments, such as Figure 4 and Figure 5 As shown, the magnetic encoder detection module also includes an indexing pin fixing arm 5, an indexing pin 6, and a power control submodule; wherein: The indexing pin fixing arm 5 is fixed to the base of the torque motor 2; The indexing pin 6 is disposed on the indexing pin fixing arm 5, and the indexing pin 6 is used to fix the stator of the magnetic encoder 7 under test; The power control submodule is connected to the power supply interface of the magnetic encoder under test 7 and the main controller, respectively. The power control submodule is used to control the power supply of the magnetic encoder under test 7 according to the instructions of the main controller.

[0031] In specific implementation, the magnetic encoder detection module is used to perform error detection on the magnetic encoder 7 under test by sampling points throughout its entire circumference (e.g., 360 sampling points if the compensation is 1°). During detection, the encoder rotates one revolution with a preset angle as the step size, and the reading error of the magnetic encoder 7 under test is acquired at each step position to obtain a reading error sequence. In the scheme described in this embodiment, taking a preset angle of 1° as the step size, i.e., acquiring error data at 360 step positions within the entire circumference, the magnetic encoder 7 under test is powered off and restarted once for each step. That is, at each step position, the power is first turned off, and after a preset interval (e.g., 3 seconds), the power is turned back on before acquiring the reading.

[0032] The above design can simulate the repeated power-on and power-off conditions of a servo turntable in actual use, covering the power-on initialization process of the encoder at all sampling angle positions, and fully exposing the power-on deviation caused by assembly errors.

[0033] When the reading error at any step position exceeds a preset threshold, the magnetic encoder detection module marks the current magnetic encoder as needing adjustment, indicating that manual assembly and adjustment of the magnetic encoder is required. It is understood that the preset threshold can be set according to the accuracy requirements of the servo turntable, for example, 0.5°, and can be set according to actual needs. For magnetic encoders that do not exceed the threshold, the subsequent fitting and compensation process begins.

[0034] In the scheme described in this embodiment, the magnetic encoder 7 under test uses dual reading heads spaced 180° apart to acquire readings. The reading error is obtained by subtracting the step size from the difference between the readings of adjacent step positions (i.e., the current step position minus the reading of the previous step position). The reading at each step position is the average of the readings of the dual reading heads of the magnetic encoder 7 under test.

[0035] It should be noted that the proposed scheme employs a dual-reading head architecture spaced 180° apart. The reading at each step position is taken from the average of the dual reading heads, automatically canceling out the first-order error introduced by installation eccentricity at the signal fusion level. The difference in readings between adjacent step positions minus the step size is used as the reading error for that step, ensuring that the error data only reflects the inherent error of the encoder and the deviation from the standard step size, and is unrelated to the absolute installation error of the reference encoder 3. The resulting error curve is decoupled from the installation conditions of the testing fixture and turntable. Regardless of the encoder's installation posture on the testing platform, its calibrated compensation curve can be directly transplanted and used in the actual installation environment of the servo turntable. The compensation effectiveness is not constrained by the consistency of fixture assembly, significantly improving the reliability and adaptability of dynamic error compensation.

[0036] In terms of hardware structure, such as Figure 4 and Figure 5 As shown, the magnetic encoder detection module includes a mechanical fixing unit, a power transmission unit, a reference measurement unit, a drive control unit, an electrical control and data acquisition unit, and a host computer, wherein: The mechanical fixing unit includes an indexing pin fixing arm 5 and an indexing pin 6. The indexing pin fixing arm 5 is fixed on the base of the torque motor 2, and the indexing pin 6 is installed on the indexing pin fixing arm 5 to fix the stator of the magnetic encoder 7 under test, ensuring that the stator remains stationary during the test.

[0037] The power transmission unit includes a torque motor 2 and a cascaded shaft 4. The torque motor 2 provides rotational power to the entire magnetic encoder detection module, such as... Figure 4 and 5As shown, one end of the cascaded shaft 4 is connected to the rotor of the torque motor 2, and the other end is connected to the rotor of the magnetic encoder 7 under test, so that the two rotate synchronously; the cascaded shaft 4 is composed of several single shaft sections 4-1 cascaded together, and each single shaft section 4-1 can be detachably connected to the rotor of a magnetic encoder 7 under test, so as to realize the simultaneous connection of the rotors of multiple magnetic encoders 7 under test.

[0038] The reference measurement unit adopts a reference encoder 3, which is structurally coaxial with the torque motor 2 and the magnetic encoder under test 7. The reference encoder 3 is used to provide an angle reference and to provide position feedback for the servo drive.

[0039] The drive control unit adopts a servo driver. The servo driver reads the data of the reference encoder 3 through the SSI interface, and receives the rotation command sent by the main controller through the RS232 interface, and drives the torque motor 2 to rotate in steps at a preset angle to realize closed-loop position control.

[0040] The electrical control and data acquisition unit includes a power control submodule, a data acquisition submodule, and a main controller. The power control submodule is connected to the power supply interface of the magnetic encoder under test (MDT) 7 and the main controller, and controls the power supply to and from the MDT 7 according to the instructions of the main controller, achieving power-off restart at each step position. The data acquisition submodule is connected to the data interface of the MDT 7 and the main controller, and is used to summarize the readings of the MDT 7. The main controller is the control core of the magnetic encoder detection module. It coordinates the power supply control submodule to control the power supply to and from the MDT 7, controls the servo driver to drive the torque motor 2 to rotate via the RS232 interface and synchronously acquires the readings of the reference encoder 3, acquires the readings of the MDT 7 through the data acquisition submodule, calculates the reading error, and uploads the error data to the host computer.

[0041] The host computer is a PC, which is connected to the main controller via an RS422 interface. It is used to receive and display error data, allowing operators to monitor the detection process and results in real time.

[0042] For ease of understanding, the following is combined with Figure 4 The detection process of the magnetic encoder detection module is described below: Before the test begins, the rotors of N (N=8 in this embodiment) magnetic encoders 7 to be tested are connected to the rotor of torque motor 2 through cascaded shaft 4, and the stator is fixed by indexing pin 6; After the test begins, the host computer sends a zeroing command to the servo driver, which then controls the torque motor 2 to rotate to the 0° position of the reference encoder 3. Simultaneously, the initial readings of N magnetic encoders 7 under test are acquired through the data acquisition submodule and recorded as follows: , .

[0043] After zeroing is completed, the loop detection step begins, and the preset forward angle step is sent through the main controller. (by For example, the main controller sends a command to the servo driver. Based on the feedback from the reference encoder 3, the servo driver controls the torque motor 2 to rotate clockwise by 1°. After reaching the target position, the main controller de-energizes the eight magnetic encoders 7 under test via the power control submodule. After a preset time interval (3 seconds in this embodiment), the power control submodule re-energizes the magnetic encoders 7 under test. After power-on, the main controller re-acquires the position data of the eight magnetic encoders 7 under test via the data acquisition submodule, and records it as follows: , , At this point, the error of each magnetic encoder 7 under test is calculated according to the following formula: = - - , in, Indicates the first The first magnetic encoder under test The reading error of each step position.

[0044] Repeat the above steps of 1° increment, power off and restart, and data acquisition and calculation. After each step cycle is completed, the reading of the previous step position is used as the reference for the next step. Error data for each step position is obtained sequentially. When the torque motor 2 drives the magnetic encoder under test 7 to rotate 360°, each magnetic encoder obtains error data for a total of 360 step positions. to .

[0045] It is understandable that the step size in the scheme described in this embodiment... It can be determined based on actual needs.

[0046] The main controller transmits all error data to a computer with a display via an RS422 interface. The computer displays the test results as error curves, allowing operators to assess the accuracy of each encoder.

[0047] Example 2 In one or more embodiments, corresponding to the above method embodiments, such as Figure 2 As shown, this embodiment provides a dynamic error compensation method for a servo turntable magnetic encoder, which is based on the aforementioned dynamic error compensation system for a servo turntable magnetic encoder, and includes: The encoder rotates one revolution with a preset angle as the step size, and the reading error of the magnetic encoder under test 7 is obtained at each step position to obtain the reading error sequence; wherein, the magnetic encoder under test 7 is powered off and restarted once for each step, and the magnetic encoder under test 7 is used to acquire readings with dual reading heads spaced 180° apart; Data fitting is performed based on the reading error sequence to obtain an error curve, and the error curve is written into the non-volatile storage of the current magnetic encoder. In practical use, the average reading of the two reading heads is used as the initial reading. The initial reading is substituted into the error curve to obtain the reading error. The final reading is obtained by subtracting the reading error from the initial reading, thus realizing dynamic error compensation.

[0048] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments that can be applied to other fields. However, any simple modifications or equivalent changes made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A dynamic error compensation system for a servo turntable magnetic encoder, characterized in that, include: The magnetic encoder detection module is configured to rotate one revolution with a preset angle as the step size, acquire the reading error of the magnetic encoder under test at each step position, and obtain a reading error sequence; wherein, the magnetic encoder under test is powered off and restarted once for each step, and the magnetic encoder under test is used to acquire readings with dual reading heads spaced 180° apart; The error curve fitting module is configured to: perform data fitting based on the obtained reading error sequence to obtain an error curve, and write the error curve into the non-volatile storage of the current magnetic encoder; The error dynamic compensation module is configured as follows: in actual use, the average reading of the two reading heads is used as the initial reading; the initial reading is substituted into the error curve to obtain the reading error; the initial reading is subtracted from the reading error to obtain the final reading, thereby realizing error dynamic compensation. The reading error is obtained by subtracting the step size from the difference between the readings of adjacent step positions, wherein the reading at each step position is the average of the readings of the dual reading heads of the magnetic encoder under test. The magnetic encoder detection module includes a torque motor, a cascaded shaft, a reference encoder, and a servo driver; One end of the cascaded shaft is connected to the rotor of the torque motor, and the other end is connected to the rotor of the magnetic encoder under test, so that the two rotate synchronously. The reference encoder is used to provide an angle reference, and the reference encoder is coaxially arranged with the torque motor and the magnetic encoder under test. The servo driver is connected to the reference encoder and the torque motor respectively. The servo driver is used to control the torque motor to rotate in steps at a preset angle according to the feedback of the reference encoder. The cascaded shaft is composed of several single shaft sections cascaded together. Each single shaft section is detachably connected to the rotor of a magnetic encoder under test. Each single shaft section includes a bearing part and a cascaded part fixedly connected to the bearing part. The bearing part is provided with a fixed threaded hole and a cascaded through hole.

2. The servo turntable magnetic encoder error dynamic compensation system as described in claim 1, characterized in that, The magnetic encoder detection module is further configured to mark the current magnetic encoder as needing adjustment when the reading error at any step position exceeds a preset threshold.

3. The servo turntable magnetic encoder error dynamic compensation system as described in claim 1, characterized in that, For each magnetic encoder under test, an error curve is independently fitted, and each error curve is written into the non-volatile storage of the corresponding magnetic encoder; wherein, the error curve is fitted using polynomial fitting or Fourier series fitting.

4. The servo turntable magnetic encoder error dynamic compensation system as described in claim 1, characterized in that, The magnetic encoder detection module further includes an indexing pin fixing arm, an indexing pin, and a power control submodule; wherein: The indexing pin fixing arm is fixed to the base of the torque motor; The indexing pin is disposed on the indexing pin fixing arm, and the indexing pin is used to fix the stator of the magnetic encoder under test; The power control submodule is connected to the power supply interface of the magnetic encoder under test and the main controller, respectively. The power control submodule is used to control the power supply of the magnetic encoder under test according to the instructions of the main controller.

5. A method for dynamic error compensation of a servo turntable magnetic encoder, based on a servo turntable magnetic encoder error dynamic compensation system as described in any one of claims 1-4, characterized in that, include: The encoder rotates one revolution with a preset angle as the step size, and the reading error of the magnetic encoder under test is obtained at each step position to obtain the reading error sequence; wherein, the magnetic encoder under test is powered off and restarted once for each step, and the magnetic encoder under test is used to acquire readings with dual reading heads spaced 180° apart; Data fitting is performed based on the reading error sequence to obtain an error curve, and the error curve is written into the non-volatile storage of the current magnetic encoder. In practical use, the average reading of the two reading heads is used as the initial reading. The initial reading is substituted into the error curve to obtain the reading error. The final reading is obtained by subtracting the reading error from the initial reading, thus realizing dynamic error compensation.

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