麦克劳林级数法求取光电编码器转子位置算法

摘要

Owing to that the number of pluses provided by incremental photoelectric encoder is limited due to the restriction of fabrication technology,it can not satisfy the need of control performance in the servomotor system used vector control technology.A new simple linear equation based on the mathematical relationships of the sine and cosine electrical signals is described,an ultra precise position estimation of the servomotor is proposed,and the resolution rotor angle by using reverse date fitting calculations is obtained.The performance of the proposed method was verified by using a practical system.The experimental results were in excellent agreement with theory.%由于制作工艺使得光栅线数受到限制,增量式光电编码器每转一周输出的脉冲数量有限,已无法满足高精度伺服系统的控制性能要求.根据正余弦编码器输出的正弦信号,将一个周期分为八个小区间,继而根据麦克劳林近似公式,提出反向数据拟合方法直接拟合出正弦信号对应的相位值,进一步得到转子的精确位置,使得计算精度高、运行速度快,解决了电机极低速运行时角度精度低的问题.搭建了实际电路及测试平台,得到了与理论分析相一致的效果.