一种新型大中心孔绝对式磁编码器  

A new absolute magnetic encoder with big hallow

作　　者：邹添[1] 倪风雷[1] 李斐然[1] 刘宏[1] 朱映远[1] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨150080

出　　处：《仪器仪表学报》2016年第7期1532-1538,共7页Chinese Journal of Scientific Instrument

基　　金：国家基础研究发展规划(973-2013CB733103)项目资助

摘　　要：为测量机器人关节端角度和电机端位置,研制一种基于霍尔原理的新型绝对式磁编码器,采用大中心孔结构,具有大的中心孔、体积小、结构紧凑、分辨率高、绝对式位置测量等特点。传感器由转子和定子组成,转子的磁码盘包括主码道和游标码道,定子由霍尔敏感芯片和信号调理电路板组成;根据游标计算原理,得到了传感器绝对角度的计算方法。通过仿真软件分析了转子的磁场分布和模态;为进一步提高磁编码器的输出精度,提出一种基于遗传优化算法的误差补偿模型,搭建了传感器的标定平台,实验结果表明传感器绝对定位精度可以达到0.2°,经过模型补偿后可以达到0.036°,满足机器人关节及伺服系统设计要求。To measure the angular position of motors,robot joints,etc,an absolute magnetic rotary position sensor is developed,which possesses advantages of large central-hole,small-size,compact structure,high resolution,absolute output and so on. The sensor consists of two code disc and a signal processing board. To measure absolute angular position,a method based on the vernier caliper measuring principle is proposed. The magnetic field and the mode of the rotor are analyzed by using the simulation software. In order to improve the output precision of magnetic encoder,a new error compensation model based on genetic algorithm is proposed and the calibration platform is built. At last,the experimental results indicate that the accuracy of the sensor can reach up to 0. 2 degrees,while the positioning accuracy can reach 0. 036 degrees after the compensation. These accuracies can fully fill the requirements of robot joint servo system.

关 键 词：绝对位置传感器 磁编码器 大中心孔结构 游标测量原理 

分 类 号：TP212.9[自动化与计算机技术—检测技术与自动化装置] TH741.2[自动化与计算机技术—控制科学与工程]