目前对增量式光栅编码器的误差补偿方法多适用于平稳工况，而工业机器人工作中多为变转速、正反转工况，现有的基于Savitzky-Golay（SG）滤波器的瞬时角速度（instantaneous angular speed, IAS）信号误差补偿法因未考虑转速与转向的变化而失效。对此，本文提出一种针对工业机器人工况的 IAS信号误差抑制自适应SG（Adaptive SG, ASG）滤波法，以实现对刻线误差与细分误差的补偿；首先通过仿真分析，在不同转速工况下建立变异系数与滤波器长度的关系，随后在工业机器人RV试验台上对编码器的IAS信号进行了采集，并对刻线误差与细分误差进行补偿，实验结果表明使用ASG滤波器可以有效实现工业机器人工况下的增量式光学编码器的误差补偿。
Abstract
At present, the error compensation methods for incremental grating encoders are mostly suitable for stable working conditions, while the working conditions of industrial robots are mostly variable speed and positive and negative rotating conditions. The instantaneous angular speed (IAS) signal error compensation method based on the Savitzky-Golay (SG) filter is invalid because the instantaneous angular speed and steering are not taken into account. In this paper, an Adaptive SG (ASG) filtering method for IAS signal error suppression is proposed to compensate the line error and subdivision error. Firstly, the relationship between the coefficient of variation and the filter length is established under different rotational speed conditions through simulation analysis. Then, the IAS signal of encoder is collected on the RV test bench of industrial robot, and the scribing error and subdivision error are compensated. The experimental results show that the error compensation of the incremental optical encoder can be realized effectively by using the ASG filter under the working condition of industrial robots.
关键词
工业机器人 /
自适应 /
变异系数 /
误差补偿 /
Savitzky-Golay滤波器
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Key words
Industrial robot /
Self-adaptation /
Coefficient of variation /
Error compensation /
Savitzky-Golay /
filter
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