用于伺服定位实验系统的高精度磁编码器设计与研制  

Design and development of high precision magnetic encoder for servo positioning experiment system

作　　者：张波[1] 李杨 陈小丽 鞠亚坤 闻小龙 ZHANG Bo;LI Yang;CHEN Xiaoli;JU Yakun;WEN Xiaolong(Beijing Engineering Research Center of Detection and Application for Weak Magnetic Field,School of Mathematics and Physics,University of Science and Technology Beijing,Beijing 100083,China)

机构地区：[1]北京科技大学数理学院北京市弱磁检测及应用工程技术研究中心,北京100083

出　　处：《实验技术与管理》2021年第10期183-192,共10页Experimental Technology and Management

基　　金：军队后勤开放研究科研项目(BY217C018);中央高校基本科研业务费资金资助项目(FRF-DF-20-37,ERF-ER-20-02B)。

摘　　要：编码器作为伺服电机系统角度检测、反馈的最核心部件,其自身定位精度至关重要。将基于隧道结磁电阻原理的磁敏芯片作为敏感元件,配合开关电源和线性电源模块形成电源系统,使用STM32F373单片机芯片及其外围电路组成信号处理微系统,使用自定义基于RS-485的Modbus RTU协议进行数据传输和通信,设计和研制了一种高精度的磁电式旋转编码器,并采用自动采集系统对编码器数据进行了采集及存储。在程序设计方面,针对敏感元件的原始输出数据,设计和编写了一种数据处理、修正和校准算法,并使用MATLAB软件对编码器解算的角度数据进行了仿真、运算和验证。为进一步检验所研制的编码器在实际工况下的角度测量精度,将编码器安装在高精度时栅转台系统上进行了测试,编码器测试精度达到0.0469°,可应用于伺服电机角度反馈系统。As the core component of angle detection and feedback in servo motor system,encoder positioning accuracy is very important.Taking the magnetic sensitive chip based on the principle of tunnel junction magnetoresistance as the sensitive element,cooperating with the switching power supply and linear power supply module to form the power supply system,using the STM32F373 single chip microcomputer chip and its peripheral circuit to form the signal processing micro system,and using the custom Modbus RTU protocol based on RS-485 for data transmission and communication,a high-precision magnetoelectric rotary encoder is designed and developed.The encoder data is collected and stored by automatic acquisition system.In terms of program design,a data processing,correction and calibration algorithm is designed and written for the original output data of sensitive components,and the angle data solved by the encoder is simulated,calculated and verified by MATLAB software.In order to further test the angle measurement accuracy of the developed encoder under actual working conditions,the encoder is installed on the high-precision time grid turntable system for testing.The test accuracy of the encoder reaches 0.0469°,which can be applied to the angle feedback system of servo motor.

关 键 词：伺服电机 反馈 磁编码器 单片机 误差修正 

分 类 号：TH-712[机械工程] G642[文化科学—高等教育学]