本文選題：角位移傳感器 + 組合式　； 參考：《哈爾濱工業(yè)大學(xué)》2015年碩士論文

【摘要】：磁電編碼器作為一種角位移傳感器,主要由永磁體和磁敏元件組成,具有機(jī)構(gòu)簡單、耐高溫、抗油污、抗沖擊和體積小等優(yōu)點(diǎn),近年來在工業(yè)控制、機(jī)械制造、船舶、紡織、印刷、航空、航天、雷達(dá)、通訊、軍工等眾多領(lǐng)域的應(yīng)用不斷增加。隨著控制技術(shù)與伺服技術(shù)的不斷發(fā)展,不僅對角位移傳感器的各項(xiàng)反饋參數(shù)要求不斷提高,同時(shí)對角位移傳感器的自身物理性質(zhì)也提出來了嚴(yán)格的要求,角位移傳感器正在逐漸從低精度、低分辨率走向高精度、高分辨率,同時(shí)也正在向著高速度、高響應(yīng)、高可靠、低成本、微型化、系列化、智能化的方向發(fā)展。本課題正是基于上述角位移傳感器發(fā)展方向的基礎(chǔ)上,對磁電編碼器做了一些具有學(xué)術(shù)和實(shí)際應(yīng)用價(jià)值的研究工作。本課題從現(xiàn)有單對極磁電編碼器的結(jié)構(gòu)、工作原理、解算算法等方面入手,提出了一種新型結(jié)構(gòu)的組合式磁電編碼器,該編碼器是由一個(gè)單對極磁電編碼器和一個(gè)多對極磁電編碼器組合而成,該結(jié)構(gòu)的磁電編碼器能夠?qū)崿F(xiàn)絕對式角位移檢測。本文通過磁電編碼器的信號發(fā)生原理,確定了組合式磁電編碼器的機(jī)械結(jié)構(gòu),并對組合式磁電編碼器進(jìn)行了磁場的有限元分析;其中為了防止單對極和多對極兩個(gè)磁場發(fā)生耦合,采用了磁場屏蔽的手段,并通過仿真分析確定兩磁場具有較低的耦合度;另一方面,為了使得組合式磁電編碼器適應(yīng)結(jié)構(gòu)靈活、易于系列化等要求,本課題提出了采用單對極軟磁體導(dǎo)磁的原理,并進(jìn)行了一定的仿真分析。本文通過分析現(xiàn)有磁電編碼器基礎(chǔ)算法,建立了適合組合式結(jié)構(gòu)的磁電編碼器的算法系統(tǒng),其中核心算法是組合式磁電編碼器的區(qū)間判斷矯正算法,該算法適合任意極對數(shù)的組合式磁電編碼器;為了適應(yīng)編碼器工作環(huán)境溫度的變化,組合式磁電編碼器算法系統(tǒng)中引用了溫度漂移自適應(yīng)補(bǔ)償算法;同時(shí)為了滿足高速、高響應(yīng)的要求提出了磁電編碼器雙中斷指數(shù)平滑預(yù)測法。本文還分析討論了導(dǎo)致磁電編碼器回程誤差的主要來源,引用了Jiles-Atherton磁滯數(shù)學(xué)模型,對由磁滯效應(yīng)導(dǎo)致的回程誤差進(jìn)行了數(shù)值化分析,同時(shí)還分析了由校準(zhǔn)系統(tǒng)、系統(tǒng)延時(shí)等因素導(dǎo)致的誤差。最后針對本課題所設(shè)計(jì)的組合式磁電編碼器進(jìn)行了檢測實(shí)驗(yàn),分別檢測了不同極對數(shù)的組合式磁電編碼器的精度、分辨率、回程誤差,實(shí)驗(yàn)結(jié)果良好,滿足使用要求;其中44對極組合式磁電編碼器的靜態(tài)分辨率可達(dá)±0.6′,單向旋轉(zhuǎn)精度最高可達(dá)±2.5′,往復(fù)旋轉(zhuǎn)精度最高可達(dá)±6′,回程誤差小于±6′;其中8對極組合式磁電編碼器的靜態(tài)分辨率可達(dá)±1.5′,單向旋轉(zhuǎn)精度最高可達(dá)±7′,往復(fù)旋轉(zhuǎn)精度最高可達(dá)±7′,回程誤差小于±0.8′.
[Abstract]:As an angle displacement sensor, magnetoelectric encoder is composed of permanent magnets and magnetic sensors. It has the advantages of simple mechanism, high temperature resistance, oil pollution resistance, shock resistance and small size. In recent years, it has been used in industrial control, mechanical manufacture, ship, textile, etc. Printing, aviation, aerospace, radar, communications, military industry and many other fields of application is increasing. With the continuous development of control technology and servo technology, not only the feedback parameters of the angular displacement sensor are constantly improved, but also the physical properties of the angular displacement sensor are strictly required. The angular displacement sensor is gradually moving from low precision, low resolution to high precision and high resolution. At the same time, it is developing towards the direction of high speed, high response, high reliability, low cost, miniaturization, serialization and intelligence. Based on the development direction of the angular displacement sensor mentioned above, this paper has done some research work on magnetoelectric encoder with academic and practical application value. In this paper, a new type of combined magnetoelectric encoder is proposed from the aspects of the structure, working principle and calculation method of the current single-pair magnetoelectric encoder. The encoder is composed of a single-pair magnetoelectric encoder and a multi-pole magnetoelectric encoder. The structure of the encoder can realize absolute angular displacement detection. Based on the signal generation principle of magnetoelectric encoder, the mechanical structure of combined magnetoelectric encoder is determined, and the magnetic field finite element analysis of combined magnetoelectric encoder is carried out. In order to prevent the coupling of the two magnetic fields, the magnetic field shielding method is adopted, and the coupling degree of the two magnetic fields is determined by simulation analysis; on the other hand, In order to make the combined magnetoelectric encoder flexible in structure and easy to serialize, the principle of single pair of soft magnets is put forward in this paper, and a certain simulation analysis is carried out. By analyzing the existing basic algorithms of magnetoelectric encoder, the algorithm system of magnetoelectric encoder suitable for combinatorial structure is established, in which the core algorithm is the interval judgment correction algorithm of combined magnetoelectric encoder. The algorithm is suitable for combined magnetoelectric encoder with arbitrary pole logarithm. In order to adapt to the temperature change of encoder working environment, the adaptive compensation algorithm of temperature drift is used in the algorithm system of combined magnetoelectric encoder, and at the same time, in order to satisfy the high speed, In order to meet the demand of high response, a smoothing prediction method of double interrupt exponent for magnetoelectric encoder is proposed. This paper also analyzes and discusses the main sources of the return range error of the magnetoelectric encoder, and uses the Jiles-Atherton hysteresis mathematical model to analyze the return range error caused by the hysteresis effect. At the same time, the calibration system is also analyzed. Error caused by system delay and other factors. Finally, the combined magnetoelectric encoder designed in this paper is tested, and the precision, resolution and return range error of the combined magnetoelectric encoder with different polar logarithms are detected respectively. The experimental results are good and meet the requirements of application. The static resolution of 44 pairs of combined magnetoelectric encoders can reach 鹵0.6g, the highest accuracy of one-way rotation is 鹵2.5m, the highest precision of reciprocating rotation is 鹵6U, and the error of return range is less than 鹵6m. The static resolution of 8 pairs of combined magnetoelectric encoders can reach 鹵1.5g, the highest accuracy of one-way rotation is 鹵7g, the highest precision of reciprocating rotation is 鹵7m, and the return error is less than 鹵0.8m.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：TN762

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