| 一种新型大中心孔绝对式磁编码器 |
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| 引用本文： | 邹添,倪风雷,李斐然,刘宏,朱映远.一种新型大中心孔绝对式磁编码器[J].仪器仪表学报,2016,37(7):1532-1538. |
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| 作者姓名： | 邹添 倪风雷 李斐然 刘宏 朱映远 |
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| 作者单位： | 哈尔滨工业大学 机器人技术与系统国家重点实验室哈尔滨150080,哈尔滨工业大学 机器人技术与系统国家重点实验室哈尔滨150080,哈尔滨工业大学 机器人技术与系统国家重点实验室哈尔滨150080,哈尔滨工业大学 机器人技术与系统国家重点实验室哈尔滨150080,哈尔滨工业大学 机器人技术与系统国家重点实验室哈尔滨150080 |
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| 基金项目： | 国家基础研究发展规划（973-2013CB733103）项目资助 |
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| 摘 要： | 为测量机器人关节端角度和电机端位置,研制一种基于霍尔原理的新型绝对式磁编码器,采用大中心孔结构,具有大的中心孔、体积小、结构紧凑、分辨率高、绝对式位置测量等特点。传感器由转子和定子组成,转子的磁码盘包括主码道和游标码道,定子由霍尔敏感芯片和信号调理电路板组成;根据游标计算原理,得到了传感器绝对角度的计算方法。通过仿真软件分析了转子的磁场分布和模态;为进一步提高磁编码器的输出精度,提出一种基于遗传优化算法的误差补偿模型,搭建了传感器的标定平台,实验结果表明传感器绝对定位精度可以达到0.2°,经过模型补偿后可以达到0.036°,满足机器人关节及伺服系统设计要求。
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| 关 键 词： | 绝对位置传感器 磁编码器 大中心孔结构 游标测量原理 |
A new absolute magnetic encoder with big hallow |
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| Zou Tian,Ni Fenglei,Li Feiran,Liu Hong and Zhu Yingyuan.A new absolute magnetic encoder with big hallow[J].Chinese Journal of Scientific Instrument,2016,37(7):1532-1538. |
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| Authors: | Zou Tian Ni Fenglei Li Feiran Liu Hong and Zhu Yingyuan |
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| Affiliation: | State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080,China,State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080,China,State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080,China,State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080,China and State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080,China |
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| Abstract: | To measure the angular position of motors, robot joints, etc, an absolute magnetic rotary position sensor is developed, which possesses advantages of large central hole, small size, compact structure, high resolution, absolute output and so on. The sensor consists of two code disc and a signal processing board. To measure absolute angular position, a method based on the vernier caliper measuring principle is proposed. The magnetic field and the mode of the rotor are analyzed by using the simulation software. In order to improve the output precision of magnetic encoder, a new error compensation model based on genetic algorithm is proposed and the calibration platform is built. At last, the experimental results indicate that the accuracy of the sensor can reach up to 0.2 degrees, while the positioning accuracy can reach 0.036 degrees after the compensation. These accuracies can fully fill the requirements of robot joint servo system. |
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| Keywords: | absolute position encoder magnetic encoder big hallow structure vernier caliper measuring principle |
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