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Neural-network-based rapid compensation method for photoelectric encoder

A technology of photoelectric encoder and neural network, which is applied in the field of photoelectric encoder measurement, can solve the problems of difficult determination of the number of neural network nodes, difficult nonlinear data calibration and compensation, long training time for convergence solutions, etc., to reduce time complexity, The effect of offsetting external interference and good generalization ability

Active Publication Date: 2015-11-11
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

The termination condition of its training is difficult to determine, the training time to obtain a convergent solution is extremely long, and the number of neural network nodes is difficult to determine
Therefore, it is difficult to calibrate and compensate a large amount of nonlinear data in a short time

Method used

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  • Neural-network-based rapid compensation method for photoelectric encoder
  • Neural-network-based rapid compensation method for photoelectric encoder
  • Neural-network-based rapid compensation method for photoelectric encoder

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Embodiment Construction

[0024] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0025] The invention provides a neural network-based fast compensation method for photoelectric encoders. The compensation method is based on neural network hidden layer node estimation algorithm, neural network weight fast calculation method and Fourier neural network, and the photoelectric encoder error is modeled through Fourier neural network. The neural network uses orthogonal Fourier series as the network excitation function. , using the neural network hidden layer estimation algorithm to estimate the number of hidden layer nodes, using the neural network weight fast calculation method to calculate the weight, and get a more accurate error model to compensate the measured value of the angle sensor, so as to improve the accuracy of the angle sensor Purpose.

[0026] Based on neural network hidden layer node estimation algorithm, output layer weight f...

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Abstract

The invention discloses a neural-network-based rapid compensation method for photoelectric encoder. The method can increase compensation precision and compensation speed, and can simplify compensation procedures and reduce requirements to a needed instrument. The method includes: first, randomly rotating the photoelectric encoder in a circle, and acquiring a training sample; then adopting a single input and single output three-layer feed-forward Fourier neural network to establish a photoelectric encoder error compensation model, and estimating the number of nodes in hidden layers based on the characteristics of an object function; at last based on the actual result, correcting the number of the nodes so as to prevent the inefficiency due to repeated and varied attempts in a trial-and-error method. According to the invention, directed to the problem of slow convergence of the iteration training method, the method, through mapping the errors to nodes in the hidden layers of orthogonal triangle function basis, rapidly solves a minimum norm solution from the hidden layers to a weight of an output layer, which substantially reduces the time required by solving the weight of the neural network and greatly reduces time complexity and space complexity in calculation.

Description

technical field [0001] The invention relates to the technical field of photoelectric encoder measurement, in particular to a neural network-based fast compensation method for photoelectric encoders. Background technique [0002] A photoelectric encoder is a device that converts the measured precise angle into a digital quantity. It is an important digital angle sensor that can measure the angle rotated by the connecting shaft in real time, and is widely used in servo systems of mobile robots, vehicles, and aircraft. However, due to the influence of factors such as process precision in the manufacturing process of the photoelectric encoder, there are nonlinear errors in the photoelectric encoder. How to reduce the impact on the accuracy of its output is a problem that must be solved in engineering applications. The traditional calibration and compensation algorithm only calibrates and compensates the sampling point, and cannot compensate the full-scale nonlinear error. [0...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01D18/00
Inventor 邓方闫宏航陈杰孙健窦丽华马丽秋
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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