【摘要】 磁编码器在高精度测控领域有着广泛应用。分析了磁编码器在精度提升上的各类方法，在对输出信号进行幅度归一化和补偿后，针对实际霍尔元件输出信号中的随机噪声，建立了基于圆周运动模型的状态方程。针对状态方程中非线性问题，提出了基于无迹卡尔曼滤波的磁编码器设计方案，并分别在300 r/min、600 r/min和1200 r/min三种转速下将无迹卡尔曼滤波前后的角度误差数据进行对比分析，结果证明了该方案在工业应用上的可行性和有效性，在不同转速下均有明显的精度提升效果，而且能很好地消除突变的大误差值问题。更多还原

【Abstract】 Magnetic angle encoder is widely used in the field of high-precision measurement and control. Various methods of improving the accuracy of magnetic encoder are analyzed. After the amplitude normalization and compensation of the output signal, aiming at the random noise in the output signal of the actual Hall element, the state equation based on the circular motion model is established. Aiming at the nonlinear problem in the equation of state, a design scheme of magnetic encoder based on Unscented Kalman filter is proposed. The angle error data before and after unscented Kalman filter are compared and analyzed at 300 r/min, 600 r/min and 1200 r/min. The results prove the feasibility and effectiveness of this scheme in industrial applications, and it can significantly improve the accuracy at different speeds, and can well eliminate the large error value problem of sudden changes.更多还原