增量式脉冲编码器Z脉冲校正与丢失检测算法

Z-pulse Correction and Loss Detection Algorithm of Incremental Pulse Encoder

针对使用增量式正交脉冲编码器的永磁同步交流伺服系统在运行过程中,dq轴电流稳态误差变大并产生震荡的现象,主要原因是在受到外部干扰时编码器误差累计使角度测量偏差增大,从而造成dq轴电流和电压不能完全解耦。为提高测量精度,提出一种Z脉冲校正和丢失检测算法,利用Z脉冲对码盘信号进行校正,并具有Z脉冲丢失检测的功能。同时给出了算法的实现方案。实验结果表明,改进算法可有效地减小编码器误差累积对角度测量的影响,避免dq轴电流稳态误差增大和震荡现象的出现,从而提高了永磁同步交流伺服系统的电流控制性能。

In order to solve the problem that the steady - state error and oscillation of dq currents grow in perma- nent magnet synchronous alternating - current servo system with incremental quadrature - pulse encoder, a Z - pulse correction and loss detection algorithm was proposed. By analyzing the control mechanism of the servo system, the main reason is that the error accumulation of the encoder caused by external interference led to the angle deviation in- creasing, so the dq currents and voltages can not be completely decoupled. The Z - pulse was used to correct the en- coder signals and Z - pulse loss detection was achieved in the algorithm. An implementation scheme of the algorithm was also presented. The experiment results show that the algorithm can effectively reduce the impact on the angle measurement by the error accumulation of the encoder avoiding the oscillation and the steady - state error growing of the dq currents, so the current control performance of the servo system is improved.