基于非线性跟踪微分器的编码器数据采集应用

发布时间：2018-03-09 03:10

本文选题：非线性跟踪微分器　切入点：绝对式编码器　出处：《现代电子技术》2017年21期 　论文类型：期刊论文

【摘要】：针对某望远镜转台使用的SSI接口绝对式编码器,提出基于FPGA读取编码器信号的方案,并给出非线性跟踪微分器的测速滤波方法,同时采用预报补偿的方法解决滤波后的相位延迟问题。根据读取到的编码器位置信息,能够准确快速地估计出速度值,滤除信号中的随机噪声干扰。该方案不依赖对象模型,算法简单,调节参数少,计算量小,易于在工程中实现。通过仿真分析和实验验证表明,该方案能够准确读取绝对式编码器码值,根据码值信息估计速度信息,转台以0.05(°)/s转动时,速度波动方差降低了3.46(″)/s,改善了低速运行的平稳性。实验证明了该方法的准确性和有效性,具有良好的使用价值。
[Abstract]:For the absolute encoder with SSI interface used in a telescope turntable, the scheme of reading encoder signal based on FPGA is proposed, and the filtering method of nonlinear tracking differentiator is given. At the same time, the problem of phase delay after filtering is solved by the method of prediction compensation. According to the position information of encoder read, the velocity value can be estimated accurately and quickly, and the random noise interference in the signal can be filtered. The scheme is independent of object model. The algorithm is simple, the adjustment parameter is less, the calculation is small, and it is easy to be realized in engineering. The simulation analysis and experimental verification show that the scheme can accurately read the code value of the absolute encoder, and estimate the speed information according to the code value information. When the turntable rotates at 0.05 (掳/ s), the variance of velocity fluctuation decreases by 3.46 ("/ s), which improves the smoothness of low speed operation. The experimental results show that the method is accurate and effective and has good practical value.
【作者单位】：中国科学院长春光学精密机械与物理研究所;中国科学院大学;
【基金】：中国科学院长春光学精密机械与物理研究所三期创新工程资助项目(065X32CN60)
【分类号】：TN762;TP274.2

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