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Research on Subdivision System of Sin-Cos Encoder Based on Zero Phase Bandpass Filter

1
School of Automation, Harbin University of Science and Technology, Harbin 150080, China
2
HRG Hefei International Institute for Research and Innovation, Hefei 230000, China
3
Hit Robot Group, Harbin 150001, China
4
State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China
*
Authors to whom correspondence should be addressed.
Sensors 2019, 19(14), 3041; https://doi.org/10.3390/s19143041
Received: 18 June 2019 / Revised: 8 July 2019 / Accepted: 9 July 2019 / Published: 10 July 2019
(This article belongs to the Section Physical Sensors)
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Abstract

A novel high-precision subdivision system for high-speed encoders is designed in this work. The system is designed with an arc second of Sin-Cos Encoder (SCE) based on zero phase bandpass filter. The system collects the analog output signals of an encoder with a high-speed data acquisition system (DAS); the noise of a digital signal can be effectively eliminated by zero phase bandpass filter with appropriate prior parameters. Finally, the actual rotation angle of the encoder is calculated by the software subdivision technique in the system. The software subdivision technique includes two methods, which are the Analog Pulse Counter (APC) and the Arc Tangent Subdivision (ATS). The APC method calculates the encoder angle by counting the analog pulses acquired by the arc tangent signal. The ATS method calculates the encoder angle by computing the arc tangent results of each point. The accuracy and stability of the system are first verified with a simulated signal; second, the real signals of an SCE are acquired by a high speed DAS on a test bench of a precision reducer, which is employed in industrial robots. The results of the proposed system are compared. The experimental results show that the system can significantly improve the accuracy of the encoder angle calculation, with controllable costs. View Full-Text
Keywords: Sin-Cos encoder; software subdivision; zero phase bandpass filter; high-speed sampling; stream processing Sin-Cos encoder; software subdivision; zero phase bandpass filter; high-speed sampling; stream processing
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Zhao, H.; Xu, J.; Zhang, H.; Liu, Z.; Dong, S. Research on Subdivision System of Sin-Cos Encoder Based on Zero Phase Bandpass Filter. Sensors 2019, 19, 3041.

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