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为了实现在低速情况下系统速度的检测,提出了一种基于莫尔条纹光电信号和非线性跟踪微分器的测量角速度和角加速度的方法。首先,分析了莫尔条纹光电信号特性;然后结合非线性跟踪微分器理论,对编码器输出的光电信号进行滤波和相位补偿;最后,将两级非线性跟踪微分器级联,同时得到速度和加速度。实验结果表明:该方法增加了低速时采样频率,提高了速度测量的平稳性、精度和实时性。将该方法应用于某采用21位编码器作为角度传感器的系统中,成功实现了速度及加速度地检测。当速度降低到0.0017(°)/s时,设置采样时间为5ms,则采样频率为通常方法的20倍,更好的解决了低速系统对测速平稳性、精度和实时性的要求。
In order to detect the system velocity at low speed, a method of measuring angular velocity and angular acceleration based on moire fringe photoelectric signal and non-linear tracking differentiator is proposed. Firstly, the moiré fringe photoelectric signal characteristics are analyzed. Then the nonlinear tracking differentiator theory is used to filter and phase-compensate the optoelectronic signals output by the encoder. Finally, the two-stage non-linear tracking differentiator is cascaded, Acceleration. Experimental results show that this method increases the sampling frequency at low speed and improves the stability, accuracy and real-time of speed measurement. Applying this method to a system with a 21-bit encoder as an angle sensor, the successful detection of velocity and acceleration is achieved. When the speed is reduced to 0.0017 (°) / s, set the sampling time to 5ms, then the sampling frequency is 20 times that of the normal method, which better solves the requirements for speed stability, precision and real-time of the low-speed system.