Automatic stabilization of encoders
Novel tools and techniques are provided for implementing an encoder capable of performing a self-correction process, and more particularly methods, systems, and apparatuses are provided for implementing an encoder capable of performing a process to correct itself during operation of the encoder. In various embodiments, the encoder includes an exciter and a sensor capable of detecting a position of the exciter and generating a signal based on the position of the exciter. The encoder can then perform one or more steps to detect at least one of a first error in an offset of the signal, a second error in a gain of the signal, or a third error in a phase of the signal as the exciter is rotating and correct the signal from the sensor based on the detection of at least one of the first error, the second error, or the third error.
1. An encoder comprising:
an exciter;
a sensor configured to detect a position associated with the exciter and generate a signal based on the position; and
a controller configured to:
receive the signal from the sensor;
detect, as the exciter is rotating, at least one of a first error in an offset of the signal, a second error in a gain of the signal, and a third error in a phase of the signal from the sensor using at least a moving algorithm creating a series of averages;
based on the detection of at least one of the first error, the second error, or the third error, calculate at least one of a first value to correct the offset of the signal, a second value to correct the gain of the signal, and a third value to correct the phase of the signal; and
correct the signal, incrementally over a predetermined amount of time to avoid overcorrection due to noise, based on at least one of the first value, the second value, or the third value.
2. The encoder of claim 1 , wherein the detection of at least one of the first error, the second error, or the third error in the rotation of the exciter, the calculation of at least one of the first value, the second value, or the third value to correct the signal, and the correction of the signal occurs as the exciter is rotating.
3. The encoder of claim 2 , wherein correcting the signal based on at least one of the first value, the second value, or the third value occurs over a predetermined amount of time.
4. The encoder of claim 2 , wherein correcting the signal based on at least one of the first value, the second value, or the third value occurs over a predetermined number of rotations of the exciter.
5. The encoder of claim 2 , wherein correcting the signal based on at least one of the first value, the second value, or the third value comprises dividing at least one of the first value, the second value, or the third value and correcting the signal over a predetermined number of rotations based on the dividing of the least one of the first value, the second value, or the third value.
6. The encoder of claim 1 , wherein the detection of at least one of the first error, the second error, or the third error and the calculation of at least one of the first value, the second value, or the third value to correct the signal occurs after a calibration of the encoder.
7. The encoder of claim 6 , wherein at least one of the first value, the second value, or the third value is combined with a corresponding value determined by a calibration of the encoder.
8. The encoder of claim 1 , wherein the detection of at least one of the first error, the second error, or the third error comprises detecting the first error, the second error, and the third error, and wherein the correction of the signal comprises first correcting the first error, then correcting the second error, then correcting the third error.
9. The encoder of claim 8 , wherein first correcting the first error, then correcting the second error, the correcting the third error occurs over a predetermined amount of time.
10. The encoder of claim 8 , wherein first correcting the first error, then correcting the second error, the correcting the third error occurs over a predetermined number of rotations.
11. The encoder of claim 1 , wherein detecting at least one of the first error, the second error, or the third error comprises:
determining based on the signal received from the sensor that the signal and a target signal of the sensor does not match; and
based on a determination that the signal and the target signal do not match, detecting at least one of the first error, the second error, or the third error as the exciter is rotating.
12. The encoder of claim 1 , wherein the controller is further configured to:
determine at least one of the first error, the second error, or the third error is occurring over a predetermined number of rotation cycles; and
based on the determination that at least one of the first error, the second error, or the third error is occurring over the predetermined number of rotation cycles, calculate at least one of the first value, the second value, or the third value to correct the signal to account for the at least one of the first error, the second error, or the third error and correcting the signal based on the at least one of the first value, the second value, or the third value.
13. The encoder of claim 1 , wherein at least one of the first error, the second error, or the third error is detected by combining a peak and valley detection of the signal with a Discrete Fourier Transform (DFT).
14. A method for correcting an error in a signal of an encoder, the method comprising:
detecting the signal from a sensor of the encoder detecting a position of an exciter of the encoder;
detecting, as the exciter is rotating, at least one of a first error in an offset of the signal, a second error in a gain of the signal, or a third error in a phase of the signal from the sensor using at least a moving algorithm creating a series of averages;
based on the detection of at least one of the first error, the second error, or the third error, calculating at least one of a first value to correct the offset of the signal, a second value to correct the gain of the signal, or a third value to correct the phase of the signal; and
correcting, incrementally over a predetermined amount of time to avoid overcorrection due to noise, the signal based on at least one of the first value, the second value, or the third value.
15. The method of claim 14 , wherein the detection of at least one of the first error, the second error, or the third error in the rotation of the exciter, the calculation of at least one of the first value, the second value, or the third value to correct the signal, and the correction of the signal occurs as the exciter is rotating.
16. The method of claim 14 , wherein correcting the signal based on at least one of the first value, the second value, or the third value occurs over a predetermined amount of time.
17. The method of claim 14 , wherein correcting the signal based on at least one of the first value, the second value, or the third value occurs over a predetermined number of rotations of the exciter.
18. The method of claim 14 , wherein the detection of at least one of the first error, the second error, or the third error and the calculation of at least one of the first value, the second value, or the third value to correct the signal occurs after a calibration of the encoder.
19. The method of claim 14 , wherein the detection of at least one of the first error, the second error, or the third error comprises detecting the first error, the second error, and the third error, and wherein the correction of the signal comprises first correcting the first error, then correcting the second error, the correcting the third error.
20. An encoder comprising:
an exciter;
a sensor configured to detect a position associated with the exciter and generate a signal based on the position; and
a processor configured to:
detect, as the exciter is rotating, at least one of a first error in an offset of the signal, a second error in a gain of the signal, and a third error in a phase of the signal from the sensor using at least a moving algorithm creating a series of averages;
determine at least one of the first error, the second error, or the third error is occurring across two or more rotation cycles;
based on a determination that at least one of the first error, the second error, or the third error is occurring across two or more rotation cycles, calculate at least one of a first value to correct the offset of the signal, a second value to correct the gain of the signal, or a third value to correct the phase of the signal; and
correct the signal, incrementally over a predetermined amount of time to avoid overcorrection due to noise, based on at least one of the first value, the second value, or the third value.