组合式磁电编码器的研制

发布时间：2018-06-19 06:20

本文选题：角位移传感器 + 组合式　；参考：《哈尔滨工业大学》2015年硕士论文

【摘要】：磁电编码器作为一种角位移传感器,主要由永磁体和磁敏元件组成,具有机构简单、耐高温、抗油污、抗冲击和体积小等优点,近年来在工业控制、机械制造、船舶、纺织、印刷、航空、航天、雷达、通讯、军工等众多领域的应用不断增加。随着控制技术与伺服技术的不断发展,不仅对角位移传感器的各项反馈参数要求不断提高,同时对角位移传感器的自身物理性质也提出来了严格的要求,角位移传感器正在逐渐从低精度、低分辨率走向高精度、高分辨率,同时也正在向着高速度、高响应、高可靠、低成本、微型化、系列化、智能化的方向发展。本课题正是基于上述角位移传感器发展方向的基础上,对磁电编码器做了一些具有学术和实际应用价值的研究工作。本课题从现有单对极磁电编码器的结构、工作原理、解算算法等方面入手,提出了一种新型结构的组合式磁电编码器,该编码器是由一个单对极磁电编码器和一个多对极磁电编码器组合而成,该结构的磁电编码器能够实现绝对式角位移检测。本文通过磁电编码器的信号发生原理,确定了组合式磁电编码器的机械结构,并对组合式磁电编码器进行了磁场的有限元分析;其中为了防止单对极和多对极两个磁场发生耦合,采用了磁场屏蔽的手段,并通过仿真分析确定两磁场具有较低的耦合度;另一方面,为了使得组合式磁电编码器适应结构灵活、易于系列化等要求,本课题提出了采用单对极软磁体导磁的原理,并进行了一定的仿真分析。本文通过分析现有磁电编码器基础算法,建立了适合组合式结构的磁电编码器的算法系统,其中核心算法是组合式磁电编码器的区间判断矫正算法,该算法适合任意极对数的组合式磁电编码器;为了适应编码器工作环境温度的变化,组合式磁电编码器算法系统中引用了温度漂移自适应补偿算法;同时为了满足高速、高响应的要求提出了磁电编码器双中断指数平滑预测法。本文还分析讨论了导致磁电编码器回程误差的主要来源,引用了Jiles-Atherton磁滞数学模型,对由磁滞效应导致的回程误差进行了数值化分析,同时还分析了由校准系统、系统延时等因素导致的误差。最后针对本课题所设计的组合式磁电编码器进行了检测实验,分别检测了不同极对数的组合式磁电编码器的精度、分辨率、回程误差,实验结果良好,满足使用要求;其中44对极组合式磁电编码器的静态分辨率可达±0.6′,单向旋转精度最高可达±2.5′,往复旋转精度最高可达±6′,回程误差小于±6′;其中8对极组合式磁电编码器的静态分辨率可达±1.5′,单向旋转精度最高可达±7′,往复旋转精度最高可达±7′,回程误差小于±0.8′.
[Abstract]:As an angle displacement sensor, magnetoelectric encoder is composed of permanent magnets and magnetic sensors. It has the advantages of simple mechanism, high temperature resistance, oil pollution resistance, shock resistance and small size. In recent years, it has been used in industrial control, mechanical manufacture, ship, textile, etc. Printing, aviation, aerospace, radar, communications, military industry and many other fields of application is increasing. With the continuous development of control technology and servo technology, not only the feedback parameters of the angular displacement sensor are constantly improved, but also the physical properties of the angular displacement sensor are strictly required. The angular displacement sensor is gradually moving from low precision, low resolution to high precision and high resolution. At the same time, it is developing towards the direction of high speed, high response, high reliability, low cost, miniaturization, serialization and intelligence. Based on the development direction of the angular displacement sensor mentioned above, this paper has done some research work on magnetoelectric encoder with academic and practical application value. In this paper, a new type of combined magnetoelectric encoder is proposed from the aspects of the structure, working principle and calculation method of the current single-pair magnetoelectric encoder. The encoder is composed of a single-pair magnetoelectric encoder and a multi-pole magnetoelectric encoder. The structure of the encoder can realize absolute angular displacement detection. Based on the signal generation principle of magnetoelectric encoder, the mechanical structure of combined magnetoelectric encoder is determined, and the magnetic field finite element analysis of combined magnetoelectric encoder is carried out. In order to prevent the coupling of the two magnetic fields, the magnetic field shielding method is adopted, and the coupling degree of the two magnetic fields is determined by simulation analysis; on the other hand, In order to make the combined magnetoelectric encoder flexible in structure and easy to serialize, the principle of single pair of soft magnets is put forward in this paper, and a certain simulation analysis is carried out. By analyzing the existing basic algorithms of magnetoelectric encoder, the algorithm system of magnetoelectric encoder suitable for combinatorial structure is established, in which the core algorithm is the interval judgment correction algorithm of combined magnetoelectric encoder. The algorithm is suitable for combined magnetoelectric encoder with arbitrary pole logarithm. In order to adapt to the temperature change of encoder working environment, the adaptive compensation algorithm of temperature drift is used in the algorithm system of combined magnetoelectric encoder, and at the same time, in order to satisfy the high speed, In order to meet the demand of high response, a smoothing prediction method of double interrupt exponent for magnetoelectric encoder is proposed. This paper also analyzes and discusses the main sources of the return range error of the magnetoelectric encoder, and uses the Jiles-Atherton hysteresis mathematical model to analyze the return range error caused by the hysteresis effect. At the same time, the calibration system is also analyzed. Error caused by system delay and other factors. Finally, the combined magnetoelectric encoder designed in this paper is tested, and the precision, resolution and return range error of the combined magnetoelectric encoder with different polar logarithms are detected respectively. The experimental results are good and meet the requirements of application. The static resolution of 44 pairs of combined magnetoelectric encoders can reach 卤0.6g, the highest accuracy of one-way rotation is 卤2.5m, the highest precision of reciprocating rotation is 卤6U, and the error of return range is less than 卤6m. The static resolution of 8 pairs of combined magnetoelectric encoders can reach 卤1.5g, the highest accuracy of one-way rotation is 卤7g, the highest precision of reciprocating rotation is 卤7m, and the return error is less than 卤0.8m.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TN762

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