On-line compensation apparatus for feedback positions of encoder and method for operating the same

• US 8,473,113 B2
• Filed: 07/27/2010
• Issued: 06/25/2013
• Est. Priority Date: 07/27/2010
• Status: Active Grant

• Current Assignee: Delta Electronics Incorporated
• Original Assignee: Delta Electronics Incorporated
• Inventors: Chou, Chia-Chih
• Primary Examiner(s): Ali, Mohammad
• Assistant Examiner(s): WHITTINGTON, ANTHONY T
• Application Number:
  US12/844,561
• Publication Number:
  US 20120029726A1
• Time in Patent Office: 1,064 Days
• Field of Search: 700/45, 700/71, 700/83, 700/302, 340/443, 370/390
• US Class Current: 700/302
• CPC Class Codes: G05B 13/024 in which a parameter or coefficient is automatically adjusted to optimise the performance
• CPC Class Codes: G05B 2219/41435 Adapt coefficients, parameters of feedforward

Abstract

An on-line compensation apparatus for feedback positions of an encoder and method for operating the same are applied to a motor driven to rotate at a constant speed by a driver, thus compensating the errors of feedback positions of the encoder. First, a compensation quantity calculation unit is used to calculate the compensation quantity of feedback positions of the encoder. Afterward, a position interval judgment unit is used to determine the position interval of the compensation quantity. Finally, a compensation quantity modification unit is used to modify the compensation quantity by using different weightings. Therefore, the compensation quantity is modified by an iteration calculation to achieve that an error between the feedback position and an ideal position is in an acceptable region, thus increasing accuracy of the feedback position compensation of the encoder.

Claims

1. An on-line compensation apparatus for feedback positions of an encoder, the on-line compensation apparatus applied to a motor driven to rotate at a constant speed by a driver, thus compensating the errors of feedback positions of the encoder;

the on-line compensation apparatus comprising;

a compensation quantity calculation unit, comprising;

a first arithmetic unit receiving a pre-treating compensation quantity and a pulse increment to sum up the pre-treating compensation quantity and the pulse increment; and

a second arithmetic unit connected to the first arithmetic unit and receiving an encoding pulse to subtract the encoding pulse from the sum of the pre-treating compensation quantity and the pulse increment, thus producing an interval compensation quantity;

a position interval judgment unit connected to the compensation quantity calculation unit and receiving the interval compensation quantity to judge the position interval of the interval compensation quantity according to the resolution of feedback positions of the encoder; and

a compensation quantity modification unit connected to the position interval judgment unit, comprising;

a third arithmetic unit receiving a first compensation quantity, a second compensation quantity, and a weighting to multiply the first compensation quantity and the second compensation quantity by the weighting to produce a first weighting compensation quantity and a second weighting compensation quantity, respectively;

a fourth arithmetic unit receiving the weighting and a value of 100% to subtract the weighting from the value of 100%, thus producing an auxiliary weighting;

a fifth arithmetic unit connected to the fourth arithmetic unit and receiving the auxiliary weighting and a feedback compensation quantity of a position interval between the first compensation quantity and the second compensation quantity to multiply the feedback compensation quantity by the auxiliary weighting to produce a feedback weighing compensation quantity;

a sixth arithmetic unit connected the third arithmetic unit and the fifth arithmetic unit and receiving the first weighting compensation quantity, the second weighing compensation quantity, and the feedback weighting compensation quantity to sum up the first weighting compensation quantity and the feedback weighting compensation quantity to produce a first compositing compensation quantity, and to sum up the second weighting compensation quantity and the feedback weighting compensation quantity to produce a second compositing compensation quantity; and

a seventh arithmetic unit connected to the sixth arithmetic unit and receiving the first compositing compensation quantity, the second compositing compensation quantity, and an initial compensation quantity to subtract the initial compensation quantity from the first compositing compensation quantity to produce a first modification compensation quantity, and to subtract the initial compensation quantity from the second compositing compensation quantity to produce a second modification compensation quantity;

whereby the first modification compensation quantity and the second modification compensation are cumulated by an iteration calculation to achieve that an error between the feedback position and an ideal position is in an acceptable region, thus increasing accuracy of the feedback position compensation of the encoder.

2. The on-line compensation apparatus in claim 1, wherein the first arithmetic unit is an addition arithmetic unit having two input terminals and one output terminal, the two input terminals receive the pre-treating compensation quantity and the pulse increment, the output terminal outputs the sum of the pre-treating compensation quantity and the pulse increment;

the second arithmetic unit is a subtraction arithmetic unit having two input terminals and one output terminal, the two input terminals receive the sum of the pre-treating compensation quantity and the pulse increment and the encoding pulse, the output terminal outputs the interval compensation quantity.

3. The on-line compensation apparatus in claim 1, wherein the third arithmetic unit and the fifth arithmetic unit are a multiplication arithmetic unit, respectively.

4. The on-line compensation apparatus in claim 1, wherein the fourth arithmetic unit is a subtraction arithmetic unit having two input terminals and one output terminal, the two input terminals receive the weighting and the value of 100%, the output terminal outputs the auxiliary weighting;

the sixth arithmetic unit is an addition arithmetic unit having three input terminals and one output terminal, the three input terminals receive the first weighting compensation quantity, the second weighing compensation quantity, and the feedback weighting compensation quantity, the output terminal outputs the first compositing compensation quantity and the second compositing compensation quantity;

the seventh arithmetic unit is a subtraction arithmetic unit having three input terminals and one output terminal, the three input terminals receive the first compositing compensation quantity, the second compositing compensation quantity, and the initial compensation quantity, the output terminal outputs the first modification compensation quantity and the second modification compensation quantity.

5. The on-line compensation apparatus in claim 1, wherein the pulse increment is a pulse difference between two feedback pulses of the ideal feedback pulse.

6. The on-line compensation apparatus in claim 1, wherein the encoding pulse is a position compensation quantity produced by the encoder at the corresponding time interval.

7. The on-line compensation apparatus in claim 1, wherein the first compensation quantity and the second compensation quantity are the original compensation quantities at the position interval corresponded to the interval compensation quantity.

8. The on-line compensation apparatus in claim 1, wherein the interval compensation quantities and the corresponding positions of the interval compensation quantities are built in a compensation table.

9. The on-line compensation apparatus in claim 1, wherein the weighing is obtained through an empirical rule.

10. The on-line compensation apparatus in claim 1, wherein the weighting is larger than the auxiliary weighting.