现代电子技术2017，Vol.40Issue(21)：149-152,157,5.DOI:10.16652/j.issn.1004-373x.2017.21.040
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
摘要
Abstract
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 posi-tion 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 re-sults 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 ac-curate 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Key words
nonlinear tracking-differentiator/absolute type encoder/velocity estimation/filtering分类
信息技术与安全科学引用本文复制引用
曲云昭,李洪文,邓永停,王晶..基于非线性跟踪微分器的编码器数据采集应用[J].现代电子技术,2017,40(21):149-152,157,5.基金项目
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) （065X32CN60）
