CN112947895A - Position reading obtaining method, position reading obtaining device, encoder and storage medium - Google Patents
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Abstract
The invention discloses a position reading obtaining method, which comprises the following steps: obtaining a pseudo-random sequence and a plurality of redundant bits corresponding to the pseudo-random sequence based on a source polynomial; obtaining a plurality of prediction bits corresponding to the plurality of redundancy bits based on the native polynomial and the pseudorandom sequence; comparing the plurality of redundant bits with the plurality of predicted bits respectively to obtain comparison results; and when the comparison result meets a preset condition, obtaining a first position reading based on the pseudorandom sequence. The invention also discloses a position reading obtaining device, an encoder and a computer readable storage medium. By utilizing the position reading obtaining method, the obtained position reading accuracy is higher.
Description
Technical Field
The present invention relates to the field of data processing technologies, and in particular, to a method and an apparatus for obtaining a position reading, an encoder, and a computer-readable storage medium.
Background
Pseudorandom sequences have found widespread use in encoders (absolute value encoders). In the related art, two code channels are simultaneously engraved on a grating ruler or a code disc: a pseudo-random code channel and an incremental code channel. The pseudo-random code channel is used for acquiring the absolute position of the encoder, acquiring absolute count based on the absolute position and giving an initial value to the incremental count; the incremental code channel predicts the absolute count on the basis of the initial value of the incremental count to obtain the incremental count. And comparing the absolute count and the incremental count in real time to obtain a comparison result, and finally, based on the comparison result, obtaining a position reading by the encoder.
However, with the prior art, the position readings obtained by the encoders are less accurate.
Disclosure of Invention
The invention mainly aims to provide a position reading obtaining method, a position reading obtaining device, an encoder and a computer readable storage medium, and aims to solve the technical problem that the accuracy of position reading obtained by the encoder is low by utilizing the prior art in the prior art.
In order to achieve the above object, the present invention provides a position reading obtaining method, including the steps of:
obtaining a pseudo-random sequence and a plurality of redundant bits corresponding to the pseudo-random sequence based on a source polynomial;
obtaining a plurality of prediction bits corresponding to the plurality of redundancy bits based on the native polynomial and the pseudorandom sequence;
comparing the plurality of redundant bits with the plurality of predicted bits respectively to obtain comparison results;
and when the comparison result meets a preset condition, obtaining a first position reading based on the pseudorandom sequence.
Optionally, the step of obtaining a plurality of prediction bits corresponding to the plurality of redundancy bits based on the local polynomial and the pseudorandom sequence includes:
determining a plurality of selected positions respectively corresponding to the monomials in the pseudorandom sequence based on the times of the monomials in the primitive polynomial;
obtaining a predicted bit based on the plurality of selected bits;
determining a new plurality of selected bits in the pseudo-random sequence based on the plurality of selected bits to update the plurality of selected bits;
and returning to the step of obtaining one prediction bit based on the plurality of selected bits until the number of prediction bits is consistent with the number of the plurality of redundant bits, and obtaining the plurality of prediction bits.
Optionally, the step of obtaining a predicted bit based on the plurality of selected bits includes:
based on the selected bits, a predicted bit is obtained using an exclusive-or logic operation.
Optionally, the step of determining a new plurality of selected bits in the pseudo-random sequence based on the plurality of selected bits to update the plurality of selected bits includes:
and determining a new plurality of selected bits in the pseudo-random sequence by using a shift register based on the plurality of selected bits so as to update the plurality of selected bits.
Optionally, the method further includes:
when the comparison result does not meet the preset condition, determining a bit to be corrected in the pseudorandom sequence based on the comparison result;
changing the numerical value of the bit to be corrected to update the pseudorandom sequence;
and returning to the step of executing the times based on each monomial in the primitive polynomial and determining a plurality of selected positions respectively corresponding to each monomial in the pseudorandom sequence until the comparison result meets the preset condition, and obtaining a second position reading based on the updated pseudorandom sequence.
Optionally, when the comparison result does not satisfy the preset condition, the step of determining a bit to be corrected in the pseudorandom sequence based on the comparison result includes:
and when the comparison result does not meet the preset condition, determining the bit to be corrected in the pseudorandom sequence by using a preset result comparison table based on the comparison result.
Optionally, the step of obtaining a pseudo-random sequence and a plurality of redundant bits corresponding to the pseudo-random sequence based on the primitive polynomial includes:
generating a pseudo-random sequence based on the primitive polynomial;
depicting the pseudo-random sequence on a code disc to obtain a readable code disc with the pseudo-random sequence;
reading the pseudo-random sequence and the plurality of redundant bits in the readable code wheel.
In addition, in order to achieve the above object, the present invention also provides a position reading obtaining apparatus, including:
a first obtaining module, configured to obtain a pseudo-random sequence and a plurality of redundant bits corresponding to the pseudo-random sequence based on a primitive polynomial;
a second obtaining module, configured to obtain a plurality of prediction bits corresponding to the plurality of redundancy bits based on the native polynomial and the pseudorandom sequence;
the comparison module is used for comparing the plurality of redundant bits with the plurality of predicted bits respectively to obtain comparison results;
and the third obtaining module is used for obtaining a first position reading based on the pseudorandom sequence when the comparison result meets a preset condition.
In addition, to achieve the above object, the present invention also provides an encoder, including: a memory, a processor and a position reading obtaining program stored on the memory and running on the processor, the position reading obtaining program when executed by the processor implementing the steps of the position reading obtaining method as claimed in any one of the above.
Further, to achieve the above object, the present invention also proposes a computer-readable storage medium having stored thereon a position-reading obtaining program, which when executed by a processor, implements the steps of the position-reading obtaining method according to any one of the above.
The technical scheme of the invention provides a position reading obtaining method, which comprises the steps of obtaining a pseudo-random sequence and a plurality of redundant bits corresponding to the pseudo-random sequence based on a primitive polynomial; obtaining a plurality of prediction bits corresponding to the plurality of redundancy bits based on the native polynomial and the pseudorandom sequence; comparing the plurality of redundant bits with the plurality of predicted bits respectively to obtain comparison results; and when the comparison result meets a preset condition, obtaining a first position reading based on the pseudorandom sequence.
When the encoder utilizes the existing position reading obtaining method, when a pseudo-random code channel of a code wheel in the encoder is polluted or defective, a read pseudo-random sequence is wrong, so that an initial value of incremental counting is wrong, at the moment, the pseudo-random sequence and the initial value of the incremental counting are wrong, even if a comparison result meets a preset condition, the obtained position reading is possibly wrong, and the accuracy of the position reading obtained by the encoder is lower; in the invention, the plurality of redundant bits and the plurality of predicted bits are compared, when the comparison result meets the preset condition, the first position reading is obtained based on the pseudo-random sequence, the probability of reading errors of the redundant bits is extremely low, and when the comparison result meets the preset condition, the probability that the pseudo-random sequence is a correct pseudo-random sequence is extremely high, so that the accuracy of the obtained first position reading is higher.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic diagram of an encoder architecture of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart diagram of a first embodiment of a position reading acquisition method of the present invention;
FIG. 3 is a logic diagram of a pseudo-random sequence structure according to the present invention;
fig. 4 is a block diagram of a first embodiment of a position reading obtaining apparatus according to the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic diagram of an encoder structure of a hardware operating environment according to an embodiment of the present invention.
In general, an encoder includes: at least one processor 301, a memory 302, and a position reading obtaining program stored on the memory and executable on the processor, the position reading obtaining program configured to implement the steps of the position reading obtaining method as previously described.
The processor 301 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and so on. The processor 301 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array).
Furthermore, an embodiment of the present invention further provides a computer-readable storage medium, on which a position reading obtaining program is stored, and the position reading obtaining program, when executed by a processor, implements the steps of the position reading obtaining method as described above. Therefore, a detailed description thereof will be omitted. In addition, the beneficial effects of the same method are not described in detail. For technical details not disclosed in embodiments of the computer-readable storage medium referred to in the present application, reference is made to the description of embodiments of the method of the present application. Determining by way of example, the program instructions may be deployed to be executed on one encoder, or on multiple encoders located at one site, or on multiple encoders distributed across multiple sites and interconnected by a communication network.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The computer-readable storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
When a pseudo-random code channel of a code wheel (or a grating ruler) of an encoder is polluted or defective, if the pseudo-random code channel is at an initial position, an initial value of a pseudo-random sequence is read wrongly, so that an initial value assignment of incremental counting is wrongly carried out, and finally, the position reading of the encoder is wrongly carried out; if the position of the sensor component is at a subsequent position, when the sensor component runs to the position, the pseudo-random sequence can also be read wrongly, and at the same time, if the power is down and the encoder stops running at the same time, the incremental count can be assigned with an initial value again after the encoder is powered on again, and similarly to the above, the position reading of the encoder can also be wrongly read.
The encoder sensor (receiving the code wheel movement signal) is defective, resulting in a one or more bit pseudo-random sequence reading error, which obviously fails to obtain an accurate position reading under any circumstances, resulting in a false reading of the pseudo-random sequence.
The pseudo-random sequence is on the one hand predetermined and reproducible and on the other hand has a random character (i.e. statistical character) with some random sequence.
Based on the above hardware structure, an embodiment of the position reading obtaining method of the present invention is proposed.
Referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of a position reading obtaining method of the present invention, the method comprising the steps of:
step S11: and obtaining a pseudo-random sequence and a plurality of redundant bits corresponding to the pseudo-random sequence based on the original polynomial.
It should be noted that the main executing body of the present invention is an encoder, the encoder is provided with a position reading obtaining program, and when the encoder executes the position degree obtaining program, the position reading obtaining method of the present invention is implemented. The encoder may be an absolute value encoder or other types of encoders, and the present invention is not limited thereto.
The pseudo-random sequence is originally applied to the communication fields of communication encryption, radar signal design, communication systems and the like. According to the characteristic of repeatability, the application of the pseudorandom sequence in the sensing field of the encoder is more and more extensive.
Specifically, step S11 includes: generating a pseudo-random sequence based on the primitive polynomial; depicting the pseudo-random sequence on a code disc to obtain a readable code disc with the pseudo-random sequence; reading the pseudo-random sequence and the plurality of redundant bits in the readable code wheel.
Generally, pseudo-random sequences with different lengths can be generated according to the degree r of the original polynomial, m-sequence is a commonly used pseudo-random sequence, and the total length of the generated sequences is 2 by taking r as an example14-1 ═ 16383. The sequence width of the pseudo-random sequence is determined by the degree r of the original polynomial, and if the degree r is 14, the sequence width is 14. Taking the pseudo-random sequence of r-14 as an example, reading a 14-bit pseudo-random sequence, and simultaneously reading redundant bits of the pseudo-random sequences of (r +1) th bit, (r +2) th bit …, (r + n-1) th bit and (r + n) th bit; where n is the number of the plurality of redundant bits, which is usually greater than 1, and the number n of redundant bits is determined based on the primitive polynomial, the present invention is not limited, and preferably n is 6.
Specifically, the redundant bits and the pseudo random sequence can be read by the photoelectric conversion principle. It is also possible to read the pseudo-random sequence using the photoelectric conversion principle and calculate the redundant bits based on the read pseudo-random sequence.
Step S12: obtaining a plurality of prediction bits corresponding to the plurality of redundancy bits based on the native polynomial and the pseudorandom sequence.
Specifically, step S12 includes: determining a plurality of selected positions respectively corresponding to the monomials in the pseudorandom sequence based on the times of the monomials in the primitive polynomial; obtaining a predicted bit based on the plurality of selected bits; determining a new plurality of selected bits in the pseudo-random sequence based on the plurality of selected bits to update the plurality of selected bits; and returning to the step of obtaining one prediction bit based on the plurality of selected bits until the number of prediction bits is consistent with the number of the plurality of redundant bits, and obtaining the plurality of prediction bits. Wherein the step of obtaining a predicted bit based on the plurality of selected bits comprises: obtaining a predicted bit by utilizing an exclusive-or logical operation based on the plurality of selected bits; the step of determining a new plurality of selected bits in the pseudo-random sequence based on the plurality of selected bits to update the plurality of selected bits comprises: and determining a new plurality of selected bits in the pseudo-random sequence by using a shift register based on the plurality of selected bits so as to update the plurality of selected bits.
Primitive polynomial f (x) x with degree r of 1414+x13+x10+x9+x8+x4+1 as an example, n prediction bits are calculated: the (r +1) 'th, the (r + 2)' th bits … the (r + n-1) 'th and the (r + n)' th bits, wherein predicted bits of the (r +1) 'th, the (r + 2)' th, … the (r + n-1) 'th and the (r + n)' th bits correspond to redundant bits of the (r +1) 'th, the (r + 2)' th, … the (r + n-1) th and the (r + n) th bits, respectively. The predicted bits are calculated as follows:
in the same way, the other prediction bits are calculated to obtain n prediction bits. Wherein A isi-14A value representing the 14 th bit of the pseudorandom sequence,
is an exclusive or logical operation.
It will be appreciated that in calculating (r + 1)', based on the primitive polynomial in the above example, a plurality of selected bits are determined in the pseudo-random sequence (including 14 bits), the plurality of selected bits being: a. thei-14、Ai-13、Ai-10、Ai-9、Ai-8And Ai-4Meanwhile, when calculating (r + 2)', 6 new selected bits are obtained by shifting the shift register based on the 6 selected bits, and the new selected bits are: a. thei-13、Ai-12、Ai-9、Ai-8、Ai-7And Ai-3This loops until n prediction bits are obtained.
Referring to fig. 3, fig. 3 is a logic diagram of a pseudo-random sequence structure according to the present invention, wherein the pseudo-random sequence is represented by a primitive polynomial f (x) x14+x13+x10+x9+x8+x4+1, the pseudo random sequence obtained is an example, and fig. 3 is a logic diagram illustrating the process of calculating (r + 1)' as shown.
Step S13: and comparing the plurality of redundant bits with the plurality of predicted bits respectively to obtain comparison results.
Step S14: and when the comparison result meets a preset condition, obtaining a first position reading based on the pseudorandom sequence.
Specifically, the primitive polynomial f (x) x with the degree r of 1414+x13+x10+x9+x8+x4And +1 as an example, obtaining n redundant bits and n predicted bits according to the above method, comparing whether the pseudorandom sequences of the (r +1) th bit and the (r +1) 'th bit, and the (r +2) th bit and the (r + 2)' th bit …, the (r + n-1) th bit and the (r + n-1) 'th bit, the (r + n) th bit and the (r + n)' th bit are consistent, if the comparison result is uniform (the corresponding redundant bits and the predicted bits are respectively consistent), obtaining that the comparison result satisfies the preset condition, otherwise, obtaining that the comparison result does not satisfy the preset condition.
When the comparison result meets a preset condition, obtaining a first position reading based on the pseudorandom sequence; when the comparison result does not meet the preset condition, determining a bit to be corrected in the pseudorandom sequence based on the comparison result; changing the numerical value of the bit to be corrected to update the pseudorandom sequence; and returning to the step of executing the times based on each monomial in the primitive polynomial and determining a plurality of selected positions respectively corresponding to each monomial in the pseudorandom sequence until the comparison result meets the preset condition, and obtaining a second position reading based on the updated pseudorandom sequence.
If the comparison result does not satisfy the preset condition, it indicates that the numerical value of a certain bit in the pseudorandom sequence is wrong, and the position reading obtained at this time is also wrong, and the above method needs to be adopted for correction to obtain a correct pseudorandom sequence, that is, when the comparison result satisfies the preset condition, the corresponding pseudorandom sequence.
For example, a primitive polynomial f (x) x with the degree r of 1414+x13+x10+x9+x8+x4+1 is an example and n redundant bits and n prediction bits are obtained as described above. When the (r +1) th bit and the (r + 1)' th bit do not coincide, a bit of which the position of the error is possible is the A-th biti-14Bit, Ai-13Bit, Ai-10Bit, Ai-9Bit, Ai-8Bit, Ai-4And (r +1) th bit, wherein at this time, the numerical value of the bit which is possibly wrong can be changed, and new n predicted bits are obtained again according to the method until the comparison result meets the preset condition, the pseudo-random sequence at this time is a correct pseudo-random sequence, and the second position reading is obtained based on the pseudo-random sequence (the updated pseudo-random sequence and the pseudo-random sequence obtained after the numerical value is changed for the last time).
Further, when the comparison result does not satisfy the preset condition, the step of determining a bit to be corrected in the pseudorandom sequence based on the comparison result includes: and when the comparison result does not meet the preset condition, determining the bit to be corrected in the pseudorandom sequence by using a preset result comparison table based on the comparison result.
It can be understood that, when the comparison results are inconsistent and the numerical values of different bits have errors, the obtained weighted sum corresponding to the pseudorandom sequence is different, the different weighted sums corresponding to the error bits are different, and the preset result comparison table can be obtained based on the different error bits and the corresponding weighted sum; and when the comparison result does not meet the preset condition, directly utilizing the real-time weighted sum, determining the weighted sum which is the same as the real-time weighted sum in the preset result comparison table, determining the error bit corresponding to the weighted sum as the bit to be corrected, and directly carrying out the operation on the bit to be corrected. Compared with the method of randomly determining the bit to be corrected, the method of obtaining the bit to be corrected by using the preset result comparison table has higher efficiency.
The technical scheme of the invention provides a position reading obtaining method, which comprises the steps of obtaining a pseudo-random sequence and a plurality of redundant bits corresponding to the pseudo-random sequence based on a primitive polynomial; obtaining a plurality of prediction bits corresponding to the plurality of redundancy bits based on the native polynomial and the pseudorandom sequence; comparing the plurality of redundant bits with the plurality of predicted bits respectively to obtain comparison results; and when the comparison result meets a preset condition, obtaining a first position reading based on the pseudorandom sequence.
When the encoder utilizes the existing position reading obtaining method, when a pseudo-random code channel of a code wheel in the encoder is polluted or defective, a read pseudo-random sequence is wrong, so that an initial value of incremental counting is wrong, at the moment, the pseudo-random sequence and the initial value of the incremental counting are wrong, even if a comparison result meets a preset condition, the obtained position reading is possibly wrong, and the accuracy of the position reading obtained by the encoder is lower; in the invention, the plurality of redundant bits and the plurality of predicted bits are compared, when the comparison result meets the preset condition, the first position reading is obtained based on the pseudo-random sequence, the probability of reading errors of the redundant bits is extremely low, and when the comparison result meets the preset condition, the probability that the pseudo-random sequence is a correct pseudo-random sequence is extremely high, so that the accuracy of the obtained first position reading is higher.
Referring to fig. 4, fig. 4 is a block diagram showing a first embodiment of the position reading obtaining apparatus of the present invention, the apparatus being used for an encoder, the apparatus comprising:
a first obtaining module 10, configured to obtain a pseudo-random sequence and a plurality of redundant bits corresponding to the pseudo-random sequence based on a primitive polynomial;
a second obtaining module 20, configured to obtain a plurality of prediction bits corresponding to the plurality of redundancy bits based on the native polynomial and the pseudorandom sequence;
a comparison module 30, configured to compare the multiple redundant bits with the multiple predicted bits, respectively, to obtain a comparison result;
a third obtaining module 40, configured to obtain a first position reading based on the pseudorandom sequence when the alignment result meets a preset condition.
The above description is only an alternative embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A method of obtaining a position reading, the method comprising the steps of:
obtaining a pseudo-random sequence and a plurality of redundant bits corresponding to the pseudo-random sequence based on a source polynomial;
obtaining a plurality of prediction bits corresponding to the plurality of redundancy bits based on the native polynomial and the pseudorandom sequence;
comparing the plurality of redundant bits with the plurality of predicted bits respectively to obtain comparison results;
and when the comparison result meets a preset condition, obtaining a first position reading based on the pseudorandom sequence.
2. The method of claim 1, wherein the step of obtaining a plurality of prediction bits corresponding to the plurality of redundancy bits based on the native polynomial and the pseudorandom sequence comprises:
determining a plurality of selected positions respectively corresponding to the monomials in the pseudorandom sequence based on the times of the monomials in the primitive polynomial;
obtaining a predicted bit based on the plurality of selected bits;
determining a new plurality of selected bits in the pseudo-random sequence based on the plurality of selected bits to update the plurality of selected bits;
and returning to the step of obtaining one prediction bit based on the plurality of selected bits until the number of prediction bits is consistent with the number of the plurality of redundant bits, and obtaining the plurality of prediction bits.
3. The method of claim 2, wherein the step of obtaining a predicted bit based on the plurality of selected bits comprises:
based on the selected bits, a predicted bit is obtained using an exclusive-or logic operation.
4. The method of claim 3, wherein the step of determining a new plurality of selected bits in the pseudo-random sequence based on the plurality of selected bits to update the plurality of selected bits comprises:
and determining a new plurality of selected bits in the pseudo-random sequence by using a shift register based on the plurality of selected bits so as to update the plurality of selected bits.
5. The method of claim 4, wherein the method further comprises:
when the comparison result does not meet the preset condition, determining a bit to be corrected in the pseudorandom sequence based on the comparison result;
changing the numerical value of the bit to be corrected to update the pseudorandom sequence;
and returning to the step of executing the times based on each monomial in the primitive polynomial and determining a plurality of selected positions respectively corresponding to each monomial in the pseudorandom sequence until the comparison result meets the preset condition, and obtaining a second position reading based on the updated pseudorandom sequence.
6. The method of claim 5, wherein the step of determining a bit to be modified in the pseudo-random sequence based on the alignment result when the alignment result does not satisfy the predetermined condition comprises:
and when the comparison result does not meet the preset condition, determining the bit to be corrected in the pseudorandom sequence by using a preset result comparison table based on the comparison result.
7. The method of any one of claims 1-6, wherein the step of obtaining a pseudo-random sequence and a plurality of redundant bits corresponding to the pseudo-random sequence based on a primitive polynomial comprises:
generating a pseudo-random sequence based on the primitive polynomial;
depicting the pseudo-random sequence on a code disc to obtain a readable code disc with the pseudo-random sequence;
reading the pseudo-random sequence and the plurality of redundant bits in the readable code wheel.
8. A position reading obtaining apparatus, comprising:
a first obtaining module, configured to obtain a pseudo-random sequence and a plurality of redundant bits corresponding to the pseudo-random sequence based on a primitive polynomial;
a second obtaining module, configured to obtain a plurality of prediction bits corresponding to the plurality of redundancy bits based on the native polynomial and the pseudorandom sequence;
the comparison module is used for comparing the plurality of redundant bits with the plurality of predicted bits respectively to obtain comparison results;
and the third obtaining module is used for obtaining a first position reading based on the pseudorandom sequence when the comparison result meets a preset condition.
9. An encoder, characterized in that the encoder comprises: a memory, a processor and a position reading obtaining program stored on the memory and running on the processor, the position reading obtaining program when executed by the processor implementing the steps of the position reading obtaining method according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that a position-reading obtaining program is stored thereon, which when executed by a processor implements the steps of the position-reading obtaining method according to any one of claims 1 to 7.
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|---|
| 吴亮: ""双码道绝对位置编码器及实验装置的研究"", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
| 王阳: ""基于单码道绝对位置编码的光电式轴角编码器"", 《中国优秀博硕士学位论文全文数据库 (硕士) 信息科技辑》 * |
| 郑卫;张波;刘品宽;: "基于FPGA的准绝对式编码器的角度测量系统设计" * |
| 郑卫等: "基于FPGA的准绝对式编码器的角度测量系统设计", 《机电工程技术》 * |
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