基于非线性跟踪微分器的编码器数据采集应用  

Application of encoder data acquisition based on nonlinear tracking-differentiator

作　　者：曲云昭 李洪文[1] 邓永停[1] 王晶[1,2] 

机构地区：[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]中国科学院大学,北京100039

出　　处：《现代电子技术》2017年第21期149-152,157,共5页Modern Electronics Technique

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)

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。Aiming at the SSI interface absolute type encoder used in a certain telescope turntable,a scheme based on FPGA to read the signal of the encoder is proposed. A velocity measurement and filtering method of the nonlinear tracking-differentiator is given. The prediction compensation method is used to solve the phase delay after signal filtering. According to the read position information of the encoder,the speed value can be estimated accurately and quickly,and the random noise interference is filtered out in the signal. The scheme does not depend on the object model,its algorithm is simple,and has less calculated quantity and few adjustment parameters,which is easy to implement in the project. The simulation analysis and experiment results show that the scheme can accurately read the code value of the absolute type encoder and estimate the velocity information according to the code value information,when the turntable turns with the speed of 0.05(°)/s,the speed fluctuation variance is reduced by 3.46(″)/s,which improves the stationarity of low speed running. The experimental results show that the method is accurate and effective,and has high use value.

关 键 词：非线性跟踪微分器 绝对式编码器 速度估计 滤波 

分 类 号：TN762[电子电信—电路与系统] TP273[自动化与计算机技术—检测技术与自动化装置]