增量式光学编码器 IAS 信号误差建模及补偿

增量式光学编码器在制造与安装的过程中不可避免的会出现刻线误差和细分误差，这些误差会降低角度测量的精度并导致瞬时角速度(IAS)信号波动，研究刻线与细分误差的补偿途径有重要意义，但现有方法存在误差补偿效率低，不易现场应用等局限。针对上述问题，本文首先对增量式光学编码器的刻线误差与细分误差进行分析并建立误差模型，揭示了刻线误差、细分误差与IAS信号波动之间的联系。在此基础上提出了一种使用IAS信号对增量式光学编码器刻线与细分误差进行补偿的方法，该方法具有效率高、无需对编码器进行改装等优点。通过仿真分析对本文所建立的误差模型的正确性与误差估计方法的可行性进行了验证，并在RV传动实验台上对伺服电机末端的增量式光学编码器进行刻线与细分误差补偿，最后使用光学旋转平台对增量式光学编码器误差进行测量，通过对比分析验证了本文所提方法的有效性。

Error modeling and compensation of IAS signal for incremental optical encoders

Incremental optical encoders have grating line errors and subdivision errors inevitably during the manufacturing and installation. These errors reduce the accuracy of the angle measurement of encoders and cause instantaneous angular speed (IAS) signal fluctuations. Research on the compensation method for grating line error and subdivision error has great significance. However, the existing methods have limitations, such as low efficiency of error compensation and difficulty in field deployment. To solve the above problems, this article first analyzes the grating line error and the subdivision error of the incremental optical encoder and establishes the error model to reveal the relationship among the grating line error, the subdivision error and the IAS signal fluctuation. Consequently, a method to compensate for the grating line error and the subdivision error of incremental optical encoders using the IAS signal is proposed. The method has advantages of high efficiency and no need to modify the encoder. The correctness of the error model established in this article and the feasibility of the error estimation method are evaluated by simulation analysis. The grating line error and the subdivision error of the incremental optical encoder at the end of the servo motor are compensated on the RV transmission test rig. Finally, the error of the incremental optical encoder is measured by the optical rotating platform. The effectiveness of the proposed method is evaluated by comparative analysis.