微型光电编码器在电机角速率辨识中的应用

李 琳; 厉 明; 艾 华

doi:10.3788/OPE.20101808.1738

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微型光电编码器在电机角速率辨识中的应用

现代应用光学 | 更新时间：2020-08-12

- 微型光电编码器在电机角速率辨识中的应用
- Application of miniature optical encoders to angular rate identification of motors
- 光学精密工程 2010年18卷第8期页码：1738-1745
- 作者机构：
  
  1. 中国科学院长春光学精密机械与物理研究所, 吉林长春 130033
  2. 中国科学院研究生院,北京 100039
- 作者简介：
- 基金信息：
  
  吉林省科技厅自然科学基金资助项目(No.20030534)()
- DOI：10.3788/OPE.20101808.1738
  中图分类号： TP212.12
- 收稿日期：2009-07-31，
  
  修回日期：2009-11-09，
  
  网络出版日期：2010-08-20，
  
  纸质出版日期：2010-08-20
- 稿件说明：
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李琳, 厉明, 艾华. 微型光电编码器在电机角速率辨识中的应用[J]. 光学精密工程, 2010,18(8): 1738-1745

LI Lin, LI Ming, AI Hua. Application of miniature optical encoders to angular rate identification of motors[J]. 光学精密工程, 2010,18(8): 1738-1745
李琳, 厉明, 艾华. 微型光电编码器在电机角速率辨识中的应用[J]. 光学精密工程, 2010,18(8): 1738-1745 DOI： 10.3788/OPE.20101808.1738.

LI Lin, LI Ming, AI Hua. Application of miniature optical encoders to angular rate identification of motors[J]. 光学精密工程, 2010,18(8): 1738-1745 DOI： 10.3788/OPE.20101808.1738.

摘要

针对电机伺服控制系统利用编码器角位置信息预测角速率的需求

提出并实现了一种基于平稳卡尔曼滤波的编码器信号处理方法。首先

分析了典型电机系统的结构及测量噪声编码器的组成

在此基础上建立了电机系统和编码器的参数化数学模型

并根据电机系统和编码器模型给出了统一的参数化平稳卡尔曼滤波器设计结果。在Matlab/Simulink环境下完成了电机、编码器和卡尔曼滤波器的仿真模型

并利用不同参数对参数化平稳卡尔曼滤波器的普适性和滤波效果进行了预测。最后

搭建了实验平台

对仿真结论进行验证并对滤波性能进行了实测。仿真和实验结果表明:参数化滤波模型对典型电机系统具有普适性

自适应平稳卡尔曼滤波器可以利用编码器信号实现角速率的最优估计

误差标准差为0.021 ()/s

最大误差可以控制在0.06 ()/s之内

能够满足一般电机伺服系统对角速率精度的要求。

Abstract

A signal processing method for encoders based on stationary Kalman filter technology is implemented to satisfy the requirements of angular rate prediction of a servo control system. Firstly

the typical structure of a motor system and the composition of an optical encoder for measuring noises are analyzed

and the parametric mathematical model of the motor system and optical encoder is built for stationary Kalman filter design. Then

the uniform parametric design results of stationary Kalman filter are presented by using the model.Under the Matlab/Simulink environment

the simulation model of the motor system

optical encoder and Kalman filter is completed and the universality and filtering effect of parametric stationary Kalman filter are predicted by different parameters. Finally

an experimental platform is built to verify the simulation conclusion

and the filtering performance is measured. The simulation and experiment results show that the parametric stationary Kalman filter is universalizable for motor systems and the adaptive stationary Kalman filter can estimate the angular-rates by using optical encoders.Obtained data indicate that the standard deviation is 0.021 ()/s and the maximum error can be controlled under 0.06 ()/s

which can satisfy the requirements of motor control systems for the angular-rate precision.

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Keywords

references

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