CN107367289B - A kind of multi-turn absolute value encoder and its working method - Google Patents
A kind of multi-turn absolute value encoder and its working method Download PDFInfo
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- CN107367289B CN107367289B CN201710678148.4A CN201710678148A CN107367289B CN 107367289 B CN107367289 B CN 107367289B CN 201710678148 A CN201710678148 A CN 201710678148A CN 107367289 B CN107367289 B CN 107367289B
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- 230000002035 prolonged effect Effects 0.000 abstract description 4
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 4
- 238000005457 optimization Methods 0.000 description 3
- 238000005265 energy consumption Methods 0.000 description 2
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- 238000012986 modification Methods 0.000 description 2
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- 230000002411 adverse Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
- G01D5/34776—Absolute encoders with analogue or digital scales
- G01D5/34792—Absolute encoders with analogue or digital scales with only digital scales or both digital and incremental scales
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Abstract
The invention discloses a kind of multi-turn absolute value encoders, comprising: detection module, powered operation module and power-off operational module；Ink stick is detected, electro-detection and outage detection are carried out, detects that powered operation module works when powering on；When detecting power-off, power-off operational module work；Powered operation module, including individual pen absolute value encoder and single-chip microcontroller, single-chip microcontroller acquire the rotor position information of motor by individual pen absolute value encoder；Operational module, including conventional coders and low-power scm are powered off, low-power scm acquires the rotor position information of motor by conventional coders.The multi-turn absolute value encoder uses the design scheme combination advanced algorithm of low-cost and high-performance, realizes low-cost and high-precision, compact, measures range is unrestricted, being capable of continuous prolonged use in the case where no external power supply is powered.The invention also discloses the working methods of multi-turn absolute value encoder.
Description
Technical field
The present invention relates to encoder techniques, and in particular, to a kind of multi-turn absolute value encoder and its working method.
Background technique
Encoder is the device for angular displacement or straight-line displacement being converted into electric signal, the former is known as code-disc, and the latter is known as code
Ruler.Rotary encoder is a kind of device for measuring motor shaft position or motor axle rotary speed, and rotary encoder is broadly divided into two
Major class, absolute type encoder and incremental encoder.
Absolute type encoder can recorde the absolute position of rotor, still can recorde motor after system cut-off
The location information of current motor axis can be read directly out after system electrification in the location information of axis.Incremental encoder, note
The change in location for recording rotor, is converted into periodic electric signal for displacement, then this electric signal is transformed into counting pulse,
The size of displacement is indicated with the number of pulse.
Currently, multi-turn absolute value encoder is mostly optical profile type multi-turn absolute value encoder, containing mechanical gear group, cost compared with
Height, volume is larger, is unfavorable for integrated, miniaturization, due to using mechanical gear group record circle number, so measures range is limited.
Optical profile type multi-turn absolute value encoder is because using grating encoder using optical detecting method so higher to environmental requirement, in dust
It can be penetrated under optical path with particle under adverse circumstances and easily cause failure, and light is constituted with photoelectric code disk and mechanical gear
Its detection circle quantity journey of formula multi-turn absolute value encoder is limited.
Traditional electronic type encoder after a power failure, because power consumption height, can not encoder rotate in the case where it is long when
Between count.Photo-electric multi-turn absolute value encoder uses grating encoder, and photoelectric code disk and mechanical gear group are very fragile, so head-on collision
It hits and shakes very sensitive, it is easy to lead to the broken of code-disc and mechanical gear group in use, influence service life.
Therefore, a kind of low-cost and high-precision is designed, technology range is without limitation, and low in energy consumption, multi-turn with long service life is absolute
It is worth encoder, is that those skilled in the art continue the technical issues of solving.
Summary of the invention
The object of the present invention is to provide a kind of multi-turn absolute value encoder, the multi-turn absolute value encoder low cost is high-precision
Degree counts range and infinitely makes, low in energy consumption, long service life.The present invention also provides a kind of work of multi-turn absolute value encoder
Method.
In order to achieve the above technical purposes, the present invention provides a kind of multi-turn absolute value encoders, comprising: detection module,
Powered operation module and power-off operational module；
Detection module carries out electro-detection and outage detection, detects that powered operation module works when powering on；It detects
When power-off, power-off operational module work；
Powered operation module, including individual pen absolute value encoder and single-chip microcontroller, the single-chip microcontroller are absolute by the individual pen
It is worth the rotor position information of encoder acquisition motor；
Operational module, including conventional coders and low-power scm are powered off, the low-power scm passes through described general
The rotor position information of logical encoder acquisition motor.
Optionally, detect that the multi-turn absolute position of last time power-cut time storage is read in the single-chip microcontroller starting when powering on
Information；And the multi-turn relative position information after the motor power-off of low-power scm storage is read, it is described low after the completion of reading
Power consumption single-chip microcontroller enters dormant state；Single-chip microcontroller also passes through the reading of individual pen absolute value encoder and powers on moment, the list of rotor
Enclose absolute location information；
When detecting power-off, the rotor position information of the single-chip microcontroller storage power-cut time motor, meanwhile, the low-power consumption
Single-chip microcontroller enters low power operation mode from suspend mode, in off-position, reads electricity in real time by the conventional coders
The rotor position information of machine is converted into the multi-turn relative position information of rotor by algorithm, and is stored in the low function
It consumes in the memory inside single-chip microcontroller.
Optionally, the single-chip microcontroller can be believed according to the rotor multi-turn absolute position for the motor that last time power-cut time stores
The rotor multi-turn relative position information of motor and the individual pen absolute position of rotor after the power-off that breath, low-power scm store
Information, obtains the multi-turn absolute position information of rotor, and by the multi-turn absolute position information by digital signal or
Analog signal output.
Optionally, the individual pen absolute value encoder and the conventional coders share code-disc.
Optionally, the conventional coders are orthogonal encoder.
The present invention also provides a kind of working methods of multi-turn absolute value encoder, comprising the following steps:
Step S1 carries out electro-detection and outage detection；It detects when powering on, enters step S2；When detecting power-off, into
Enter step S3；
Step S2, individual pen absolute value encoder and single-chip microcontroller work, the single-chip microcontroller pass through the individual pen absolute encoder
The rotor position information of device acquisition motor；
Step S3, conventional coders and low-power scm work, the low-power scm pass through the common coding
The rotor position information of device acquisition motor.
Optionally, in step S2, judge whether to power off, if power-off, the motor of the single-chip microcontroller storage power-cut time turns
Sub- location information, and enter step S3.
Optionally, in step S3, judge whether to be powered, if be powered, enter step S4, meanwhile, the low-power consumption list
Piece machine enters dormant state；
Step S4, the single-chip microcontroller starting are read the rotor position information of the motor of last time power-cut time storage, are read low
Rotor multi-turn relative position information after the motor power-off of power consumption single-chip microcontroller storage；Single-chip microcontroller also passes through individual pen absolute value encoder
Reading powers on moment, the individual pen absolute location information of rotor；Enter step S2.
Optionally, the single-chip microcontroller can be believed according to the rotor multi-turn absolute position for the motor that last time power-cut time stores
Breath, low-power scm storage motor power-off after rotor multi-turn relative position information and power on the individual pen of moment rotor
Absolute location information obtains the multi-turn absolute position information of rotor.
Optionally, the multi-turn absolute position information of rotor is passed through into digital signal or analog signal output.
Multi-turn absolute value encoder provided by the invention, detection module carry out electro-detection and outage detection, detect
When electric, the work of powered operation module；When detecting power-off, power-off operational module work；Powered operation module, including individual pen are absolute
It is worth encoder and single-chip microcontroller, the single-chip microcontroller acquires the rotor position information of motor by the individual pen absolute value encoder；It is disconnected
Electric operational module, including conventional coders and low-power scm, the low-power scm are adopted by the conventional coders
Collect the rotor position information of motor.
When the multi-turn absolute value encoder works, when external power supply, the work of individual pen absolute value encoder, the data of acquisition
It is recorded by single-chip microcontroller；When the power-off of outside, the data of conventional coders work, acquisition pass to the single-chip microcontroller of low-power consumption；Again
When energization, the data recorded by single-chip microcontroller and low-power scm can calculate current multi-turn absolute position information.It should
Multi-turn absolute value encoder uses the design scheme combination advanced algorithm of low-cost and high-performance, and optimization improves the property of encoder
Can, low-cost and high-precision is realized, compact, measures range is unrestricted, can connect in the case where no external power supply is powered
Continuous prolonged use.
Detailed description of the invention
The drawings are intended to provide a further understanding of the invention, and constitutes part of specification, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.
Fig. 1 is a kind of flow chart of embodiment of working method of multi-turn absolute value encoder provided by the present invention；
Fig. 2 is the flow chart of the working method another embodiment of multi-turn absolute value encoder provided by the present invention.
Specific embodiment
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
In a kind of specific embodiment, the present invention provides a kind of multi-turn absolute value encoders, comprising: detection mould
Block, powered operation module and power-off operational module；
Detection module carries out electro-detection and outage detection, detects that powered operation module works when powering on；It detects
When power-off, power-off operational module work；
Powered operation module, including individual pen absolute value encoder and single-chip microcontroller, the single-chip microcontroller are absolute by the individual pen
It is worth the rotor position information of encoder acquisition motor；
Operational module, including conventional coders and low-power scm are powered off, the low-power scm passes through described general
The rotor position information of logical encoder acquisition motor.
When the multi-turn absolute value encoder works, when external power supply, the work of individual pen absolute value encoder, the data of acquisition
It is recorded by single-chip microcontroller；When the power-off of outside, the data of conventional coders work, acquisition pass to the single-chip microcontroller of low-power consumption；Again
When energization, the data recorded by single-chip microcontroller and low-power scm can calculate current multi-turn absolute position information.
When powered operation module works, it is absolute can be converted into multi-turn for the rotor position information for the motor that single-chip microcontroller obtains
Location information；When powering off operational module work, the rotor position information for the motor that low-power scm obtains, after being equivalent to power-off
Multi-turn relative position information.
The multi-turn absolute value encoder uses the design scheme combination advanced algorithm of low-cost and high-performance, and optimization improves volume
The performance of code device, realizes low-cost and high-precision, compact, measures range is unrestricted, the case where no external power supply is powered
Under being capable of continuous prolonged use.
In further specific embodiment, detect that the single-chip microcontroller starting is read last time power-cut time and deposited when powering on
The multi-turn absolute position information of storage；And the multi-turn relative position information after the motor power-off of low-power scm storage is read,
After the completion of reading, the low-power scm enters dormant state；Single-chip microcontroller also passes through the reading of individual pen absolute value encoder and powers on
Moment, the individual pen absolute location information of rotor；
When detecting power-off, the rotor position information of the single-chip microcontroller storage power-cut time motor, meanwhile, the low-power consumption
Single-chip microcontroller enters low power operation mode from suspend mode, in off-position, reads electricity in real time by the conventional coders
The rotor position information of machine is converted into the multi-turn relative position information of rotor by algorithm, and is stored in the low function
It consumes in the memory inside single-chip microcontroller.
It should be understood that
Multi-turn absolute position information is to be initialized as the first time with encoder or carry out initial position resetting by software
The position of rotor is as initial position afterwards, initial position value 0, with the rotor that currently reads relative to initial bit
The difference set, as multi-turn absolute position；
After multi-turn relative position information is system cut-off, low-power scm enters low power mode of operation from suspend mode
At the time of, the position of rotor, as initial position, initial position value 0, with the rotor that currently reads relative to
Initial position difference is as multi-turn relative position；
Individual pen absolute position is the position of the rotor obtained by individual pen absolute value encoder.
After encoder powers on, the multi-turn absolute position information stored when last time power-off is read in single-chip microcontroller starting, and motor turns
Sub- location information can be converted to multi-turn absolute position information；Rotor after also reading the motor power-off of low-power scm storage
To the rotor position information that conventional coders obtain during specifically powering on after the power-off of location information, i.e. last time, i.e., multi-turn is with respect to position
Confidence breath；The individual pen absolute position information of moment rotor is also powered on, motor is started to work.
With the work of motor, individual pen absolute value encoder and single-chip microcontroller are started to work, and record the rotation angle of motor in real time
Degree and circle number, conventional coders then stop working at this time, and low-power scm enters Low-power-consumptiodormancy dormancy mode；Until external power supply
After power-off, single-chip microcontroller instantaneously saves the rotor position information of power-cut time motor, by algorithm, is converted into the multi-turn of rotor
Relative position information, at this moment individual pen absolute value encoder and single-chip microcontroller stop working, and conventional coders and low-power scm
It waits and being powered on outside next encoder into operating mode with CB common battery.
Specifically, the single-chip microcontroller can be believed according to the rotor multi-turn absolute position for the motor that last time power-cut time stores
The rotor multi-turn relative position information of motor and the individual pen absolute position of rotor after the power-off that breath, low-power scm store
Information, obtains the multi-turn absolute position information of rotor, and by the multi-turn absolute position information by digital signal or
Analog signal output.
In the respective embodiments described above, individual pen absolute value encoder and conventional coders share code-disc.
Individual pen absolute value encoder and conventional coders detect the same motor, then the two can share code-disc.
Specifically, the conventional coders are orthogonal encoder, Hall element.
The advantage of the multi-turn absolute value encoder is as follows:
1, integrated, miniaturization
Current general photo-electric multi-turn absolute value encoder is caused as its photoelectric code disk and mechanical gear group shared by it
Volume is larger, is unfavorable for integrated, miniaturization；
Only three chips are integrated into the front and back sides of circuit board to the implementation method of the multi-turn absolute value encoder, and volume is smaller.
2, at low cost, high-precision
Current general photo-electric multi-turn absolute value encoder contains photoelectric code disk and mechanical gear group leads to not because of it
It is optimized using lower cost solution so at high cost.
Practical multi-turn absolute value encoder used in the implementation method of the multi-turn absolute value encoder is absolute value individual pen
Cost+increment counter cost of magnetic coder, encoder trueer than mechanical gear formula absolute value are at low cost much lower；By
Absolute position, orthogonal component metering circle number are surveyed in the high-precision magnetic code disk used, in addition the later period uses advanced algorithm to data
It is handled, it is ensured that the high-precision of multi-turn absolute value encoder.
3, low-power consumption
Traditional electronic type encoder after a power failure, because power consumption height, can not encoder rotate in the case where it is long when
Between count.
The implementation method of the multi-turn absolute value encoder is powered using single battery, can after external power outage
To continue to record turnning circle, the time is up to 1 year or so.
4, measures range is wide
Traditional its structure of photo-electric multi-turn absolute value encoder is the mould that individual pen absolute value encoder adds mechanical gear group
Formula, thus measures range is restricted for the mechanical gear group used due to it, will lead to super circle, causes to count inaccuracy.
The implementation method of the multi-turn absolute value encoder uses electronic counting mode, and range ability is without limitation.
5, long service life
Photo-electric multi-turn absolute value encoder causes code-disc and mechanical gear group broken because it is very fragile to shock and vibration,
To influence service life.
The magnetic code disk and Hall element used inside the implementation method of the multi-turn absolute value encoder, these elements are not easy
Damage part, it is ensured that the service life time of equipment.
Fig. 1 and Fig. 2 are please referred to, Fig. 1 is a kind of implementation of working method of multi-turn absolute value encoder provided by the present invention
The flow chart of mode；Fig. 2 is the stream of the working method another embodiment of multi-turn absolute value encoder provided by the present invention
Cheng Tu.
The invention also discloses a kind of working methods of multi-turn absolute value encoder, comprising the following steps:
Step S1 carries out electro-detection and outage detection；It detects when powering on, enters step S2；When detecting power-off, into
Enter step S3；
Step S2, individual pen absolute value encoder and single-chip microcontroller work, the single-chip microcontroller pass through the individual pen absolute encoder
The rotor position information of device acquisition motor；
Step S3, conventional coders and low-power scm work, the low-power scm pass through the common coding
The rotor position information of device acquisition motor.
When the multi-turn absolute value encoder works, when external power supply, the work of individual pen absolute value encoder, the data of acquisition
It is recorded by single-chip microcontroller；When the power-off of outside, conventional coders work, the signal generated passes to the single-chip microcontroller of low-power consumption；Again
When energization, the data recorded by single-chip microcontroller and low-power scm can calculate current multi-turn absolute position information.
The rotor position information for the motor that single-chip microcontroller obtains, can be converted into multi-turn absolute position information；Low-power consumption monolithic
The rotor position information for the motor that machine obtains, the multi-turn relative position information after being equivalent to power-off.
The multi-turn absolute value encoder uses the design scheme combination advanced algorithm of low-cost and high-performance, and optimization improves volume
The performance of code device, realizes low-cost and high-precision, compact, measures range is unrestricted, the case where no external power supply is powered
Under can continuous prolonged use, extend the service life of encoder.
In the first specific embodiment, in step S2, judge whether to power off, if power-off, the single-chip microcontroller storage
The motor rotor position information of power-cut time, and enter step S3.
With the work of motor, individual pen absolute value encoder and single-chip microcontroller are started to work, and record the rotor position of motor in real time
Confidence breath；After external power supply power-off, single-chip microcontroller instantaneously saves the multi-turn absolute position information of current rotor, at this moment
Individual pen absolute value encoder and single-chip microcontroller stop working, and conventional coders and low-power scm have shared battery, into
Enter low power mode of operation, obtain the rotor position information of motor, by algorithm, is converted into the multi-turn relative position of rotor
Information, and be saved in the memory of low-power scm.
In second of specific embodiment, in step S3, judge whether to be powered, if be powered, enters step S4, together
When, the low-power scm enters dormant state；
Step S4, the single-chip microcontroller starting are read the rotor position information of the motor of last time power-cut time storage, are read low
Rotor multi-turn relative position information after the motor power-off of power consumption single-chip microcontroller storage；Single-chip microcontroller also passes through individual pen absolute value encoder
Reading powers on moment, the individual pen absolute location information of rotor；Enter step S2.
Further, the single-chip microcontroller can be believed according to the rotor multi-turn absolute position for the motor that last time power-cut time stores
Breath, low-power scm storage motor power-off after rotor multi-turn relative position information and power on the individual pen of moment rotor
Absolute location information obtains the multi-turn absolute position information of rotor.
Preferably, the multi-turn absolute position information of rotor is passed through into digital signal or analog signal output.
It is understood that the principle that embodiment of above is intended to be merely illustrative of the present and the exemplary implementation that uses
Mode, however the present invention is not limited thereto.For those skilled in the art, essence of the invention is not being departed from
In the case where mind and essence, various changes and modifications can be made therein, these variations and modifications are also considered as protection scope of the present invention.
Claims (7)
1. a kind of multi-turn absolute value encoder characterized by comprising detection module, powered operation module and power-off Working mould
Block；
Detection module carries out electro-detection and outage detection, detects that powered operation module works when powering on；Detect power-off
When, power-off operational module work；
Powered operation module, including individual pen absolute value encoder and single-chip microcontroller, the single-chip microcontroller are compiled by the individual pen absolute value
The rotor position information of code device acquisition motor；
Operational module is powered off, including conventional coders and low-power scm, the low-power scm pass through the common volume
The rotor position information of code device acquisition motor；
Detect that the multi-turn absolute position information of last time power-cut time storage is read in the single-chip microcontroller starting when powering on；And it reads
Multi-turn relative position information after the motor power-off for taking low-power scm to store, after the completion of reading, the low-power scm
Into dormant state；Single-chip microcontroller also passes through the reading of individual pen absolute value encoder and powers on moment, the individual pen absolute position of rotor
Information；
When detecting power-off, the rotor position information of the single-chip microcontroller storage power-cut time motor, meanwhile, the low-power consumption monolithic
Machine enters low power operation mode from suspend mode, in off-position, reads motor in real time by the conventional coders
Rotor position information is converted into the multi-turn relative position information of rotor by algorithm, and is stored in the low-power consumption list
In memory inside piece machine.
2. multi-turn absolute value encoder as described in claim 1, which is characterized in that the single-chip microcontroller can be powered off according to last time
The rotor multi-turn phase of motor after the rotor multi-turn absolute position information of the motor of moment storage, the power-off of low-power scm storage
To the individual pen absolute location information of location information and rotor, the multi-turn absolute position information of rotor is obtained, and by institute
It states multi-turn absolute position information and passes through digital signal or analog signal output.
3. such as the described in any item multi-turn absolute value encoders of claims 1 or 2, which is characterized in that the individual pen absolute value is compiled
Code device and the conventional coders share code-disc.
4. multi-turn absolute value encoder as claimed in claim 3, which is characterized in that the conventional coders are orthogonal coding
Device.
5. a kind of working method of multi-turn absolute value encoder, which comprises the following steps:
S1 carries out electro-detection and outage detection；It detects when powering on, enters step S2；When detecting power-off, enter step
S3；
S2, individual pen absolute value encoder and single-chip microcontroller work, the single-chip microcontroller pass through individual pen absolute value encoder acquisition electricity
The rotor position information of machine；
S3, conventional coders and low-power scm work, the low-power scm acquire electricity by the conventional coders
The rotor position information of machine；
In step S2, judge whether to power off, if power-off, the motor rotor position information of the single-chip microcontroller storage power-cut time,
And enter step S3；
In step S3, judge whether to be powered, if be powered, enters step S4, meanwhile, the low-power scm enters suspend mode
State；
S4, the single-chip microcontroller starting, reads the rotor position information of the motor of last time power-cut time storage, reads low-power consumption monolithic
Rotor multi-turn relative position information after the motor power-off of machine storage；Single-chip microcontroller also passes through the reading of individual pen absolute value encoder and powers on
Moment, the individual pen absolute location information of rotor；Enter step S2.
6. the working method of multi-turn absolute value encoder as claimed in claim 5, which is characterized in that the single-chip microcontroller being capable of root
After being powered off according to the motor of the rotor multi-turn absolute position information of the motor of last time power-cut time storage, low-power scm storage
Rotor multi-turn relative position information and the individual pen absolute location information for powering on moment rotor, the multi-turn for obtaining rotor are exhausted
To location information.
7. the working method of multi-turn absolute value encoder as claimed in claim 6, which is characterized in that by the multi-turn of rotor
Absolute location information passes through digital signal or analog signal output.
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| CN108844558B (en) * | 2018-06-29 | 2020-05-26 | 上海共久电气有限公司 | Method for realizing power-off position memory by using single-turn absolute value encoder |
| CN109556638B (en) | 2018-12-24 | 2019-10-18 | 前沿驱动（北京）技术有限公司 | Multi-turn absolute value encoder, coding method, controller and storage medium |
| CN110440848B (en) * | 2019-08-21 | 2020-04-24 | 浙江禾川科技股份有限公司 | Measuring method, device and equipment of magnetic encoder |
| CN112378425B (en) * | 2020-11-03 | 2022-03-25 | 通用电气（武汉）自动化有限公司 | Initial value setting method and device for multi-turn absolute value encoder and storage medium |
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| CN113847934A (en) * | 2021-09-24 | 2021-12-28 | 深圳市灵犀自动化技术有限公司 | Position determination method and device of hybrid encoder |
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