Research on active supervision and compensation method for angle error of magnetoelectric encoder based on state equation

被引：0

作者：

Wang L. ^{[1
]}

Wu D. ^{[1
]}

Li Y. ^{[1
]}

Zhang Y. ^{[1
,2
]}

Pan W. ^{[3
]}

机构：

[1] Key Laboratory of Advanced Manufacturing and Intelligent Technology, Ministry of Education, Harbin University of Science and Technology, Harbin

[2] Robotics & its Engineering Research Center, Harbin University of Science and Technology, Harbin

[3] Shanghai Aerospace Intelligent Equipment Co., Ltd., Shanghai

来源：

Wang, Lei (leiwang007@126.com) | 1600年 / Science Press卷 / 41期

关键词：

Adaptive active supervision; Angle error compensation; Kalman filter; Kinematic equation of state; Magneto-electric encoder;

D O I：

10.19650/j.cnki.cjsi.J2006366

中图分类号：

学科分类号：

摘要：

Aiming at the problem that the angle value of the magneto-electric encoder is easily affected by high-frequency noise and affects the output accuracy of the angle value, based on the Kalman filter and the motion state equation, a method is propised for actively monitoring and compensating the angle value error. In order to reduce the observation noise of the angle value, the angle value observation method based on the kinematic state equation is used to effectively suppress the observation noise of the angle value of the Magneto-electric encoder, and the adaptive compensation method based on the neuron angle value error is proposed to realize the angle value error observation Adaptive convergence process. Aiming at the problem of slow convergence of angle value error, an active monitoring compensation method based on angle value error of Kalman filter is used to adjust the error compensation coefficient to improve the convergence rate of angle value observation error. Experiments prove the effectiveness of the proposed method. The large-angle jump working position at the zero-crossing position adopts the state error adjustment coefficient with better tracking performance to ensure the consistency of the angle value tracking. In the state of smooth tracking of the angle value, the accuracy of the angle value is improved from ±3° to ±0.082° using the method of this paper. © 2020, Science Press. All right reserved.

引用

页码：94 / 105

页数：11

共 21 条

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