阅读说明：本技术 一种使用光电编码器确定驱动器的输出速度的方法和装置 (Method and device for determining output speed of driver by using photoelectric encoder ) 是由 张强 于 2019-02-18 设计创作，主要内容包括：本发明公开了一种使用光电编码器确定驱动器的输出速度的方法和装置,涉及计算机技术领域。该方法的一个具体实施方式包括：根据所述光电编码器的采样周期t<Sub>s</Sub>、所述光电编码器的实测计数量N和所述驱动器的减速比K确定所述光电编码器的测量速度v；根据所述驱动器的预设速度<Image he="50" wi="33" file="DDA0001971281530000011.GIF" imgContent="drawing" imgFormat="GIF" orientation="portrait" inline="no"></Image>和所述光电编码器的测量速度v确定所述驱动器的输出速度<Image he="50" wi="58" file="DDA0001971281530000012.GIF" imgContent="drawing" imgFormat="GIF" orientation="portrait" inline="no"></Image>该实施方式能够通过分析光电编码器的测速原理及误差来源降低测速噪声,并确定异常数据剔除标准,从而提高使用光电编码器进行测速的精度。(The invention discloses a method and a device for determining the output speed of a driver by using a photoelectric encoder, and relates to the technical field of computers. One embodiment of the method comprises: according to the sampling period t of the photoelectric encoder s Determining the measuring speed v of the photoelectric encoder by the actually measured number N of the photoelectric encoder and the reduction ratio K of the driver; according to the preset speed of the driver And the measured speed v of the photoelectric encoder determines the output speed of the driver According to the embodiment, the speed measurement noise can be reduced by analyzing the speed measurement principle and the error source of the photoelectric encoder, and the abnormal data rejection standard is determined, so that the accuracy of measuring the speed by using the photoelectric encoder is improved.)

1. A method of determining an output speed of a drive using an opto-electronic encoder, comprising:

according to the sampling period t of the photoelectric encoder_sDetermining the measuring speed v of the photoelectric encoder by the actually measured number N of the photoelectric encoder and the reduction ratio K of the driver;

according to the preset speed of the driverAnd the measured speed v of the photoelectric encoder determines the output speed of the driver

2. The method of claim 1, further comprising: using the formula

Determining an output speed of the driveWhere i denotes the ith measurement, i is 1,2,3, … n,output speed, v, of the drive representing the i +1 th measurement_iThe measurement speed of the photoelectric encoder representing the ith measurement,representing the preset speed of the drive at the ith measurement.

3. The method of claim 1, further comprising:

using the formula

Determining an output speed of the driveWherein a is a weight coefficient, 0 < a < 1, i represents the ith measurement, i is 1,2,3, … n,denotes the i +1 th measurementOf the driver, v_iThe measurement speed of the photoelectric encoder representing the ith measurement,representing the preset speed of the drive at the ith measurement.

4. A method according to claim 2 or 3, characterized in that the method further comprises:

determining the measured speed v of the photosensor and the output speed of the driver determined according to claim 2Whether the difference between is greater than a noise threshold value, wherein the noise threshold value is based on the sampling period t_sAnd the reduction ratio K is determined;

if the difference is not greater than the noise threshold, the output speed of the driver is determined according to claim 3;

if the difference is greater than the noise threshold, the output speed of the drive is determined according to claim 2 or a predetermined speed of the drive is used as the output speed of the drive.

5. The method according to claim 1, wherein the measurement speed v of the photoelectric encoder is calculated by the formula

Wherein i represents the ith measurement, i ═ 1,2,3, … n; v. of_iThe measurement speed, N, of the photoelectric encoder representing the ith measurement_iThe number of actual measurements of the photoelectric encoder representing the i-th measurement.

6. The method of claim 3, wherein the weighting factor a is 0.5.

7. The method of claim 4, wherein the noise threshold isWherein b is more than 0 and less than or equal to 4.

8. An apparatus for determining an output speed of a drive using an opto-electronic encoder, comprising:

a measurement module for measuring the sampling period t of the photoelectric encoder_sDetermining the measuring speed v of the photoelectric encoder by the actually measured number N of the photoelectric encoder and the reduction ratio K of the driver;

a calculation module for calculating a preset speed of the driverAnd the measured speed v of the photoelectric encoder determines the output speed of the driver

9. The apparatus of claim 8, wherein the calculation module is further configured to use a formula

Determining an output speed of the driveWhere i denotes the ith measurement, i is 1,2,3, … n,output speed, v, of the drive representing the i +1 th measurement_iSaid photoelectric encoder representing the ith measurementThe speed of the code device is measured and,representing the preset speed of the drive at the ith measurement.

10. The apparatus of claim 8, wherein the calculation module is further configured to use a formula

Determining an output speed of the driveWherein a is a weight coefficient, 0 < a < 1, i represents the ith measurement, i is 1,2,3, … n,output speed, v, of the drive representing the i +1 th measurement_iThe measurement speed of the photoelectric encoder representing the ith measurement,representing the preset speed of the drive at the ith measurement.

11. Device according to claim 9 or 10, wherein the calculation module is further configured to determine the measured speed v of the photosensor and the output speed of the driver determined according to claim 2Whether the difference between is greater than a noise threshold value, wherein the noise threshold value is based on the sampling period t_sAnd the reduction ratio K is determined;

if the difference is not greater than the noise threshold, the output speed of the driver is determined according to claim 3;

if the difference is greater than the noise threshold, the output speed of the drive is determined according to claim 2 or a predetermined speed of the drive is used as the output speed of the drive.

12. The apparatus of claim 8, wherein the measurement module is further configured to use a formula

Calculating the measuring speed v of the photoelectric encoder; wherein i represents the ith measurement, i ═ 1,2,3, … n; v. of_iThe measurement speed, N, of the photoelectric encoder representing the ith measurement_iThe number of actual measurements of the photoelectric encoder representing the i-th measurement.

13. The apparatus of claim 10, wherein the weighting factor a is 0.5.

14. The apparatus of claim 11, wherein the noise threshold isWherein b is more than 0 and less than or equal to 4.

15. An electronic device, comprising:

one or more processors;

a storage device for storing one or more programs,

when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-7.

16. A computer-readable medium, on which a computer program is stored, which, when being executed by one or more processors, carries out the method according to any one of claims 1-7.

Technical Field

The present invention relates to the field of computer technologies, and in particular, to a method and an apparatus for determining an output speed of a driver using a photoelectric encoder, an electronic device, and a computer-readable medium.

Background

The photoelectric encoder has the main working principle of photoelectric conversion, and is a sensor for converting mechanical geometric displacement of an output shaft into pulse or digital quantity through the photoelectric conversion. The photoelectric encoder is mainly composed of a grating disk and a photoelectric detection device, in a servo system, the grating disk and a motor are coaxial, so that the rotation of the motor drives the grating disk to rotate, then a plurality of pulse signals are output by the photoelectric detection device, and the current rotating speed of the motor can be calculated according to the pulse number per second of the signals. The code wheel of the photoelectric encoder outputs two optical codes with the phase difference of 90 degrees, and the rotating direction of the motor can be judged according to the change of the state of the two-channel output optical codes. And can be classified into an incremental type, an absolute type, and a hybrid incremental type. Photoelectric encoders have been widely used in the field of measuring the speed of devices. For example, an Automated Guided Vehicle (AGV) is provided with a photoelectric encoder, and the AGV performs positioning in real time based on sensors such as a carried photoelectric sensor, a carried vision sensor, and a carried gyroscope; based on the positioning data and the target data, the AGV movement control system sends a control instruction to a driving wheel of the driver to drive the AGV to move to a set position. Photoelectric encoder installs on driving wheel system as the necessary sensor equipment of AGV usually, can be used to measure AGV's fast information such as wheel, can realize functions such as AGV's location and motion planning further based on fast information of wheel. Therefore, the speed measurement precision of the photoelectric encoder obviously influences the actual navigation precision of the AGV.

In the process of implementing the invention, the inventor finds that at least the following problems exist in the prior art:

for speed data directly measured by a photoelectric encoder, the current method is to directly use original measured speed data; or the weighted average equal smoothing process is carried out by experience. The direct use of raw measurement speed data introduces noisy data into the system that will significantly affect control accuracy; and the data smoothing process will cause measurement lag and influence the control effect.

Disclosure of Invention

In view of this, embodiments of the present invention provide a method and an apparatus for determining an output speed of a driver by using a photoelectric encoder, which can reduce speed measurement noise by analyzing a speed measurement principle and an error source of the photoelectric encoder, and determine an abnormal data rejection standard, thereby improving accuracy of speed measurement by using the photoelectric encoder.

To achieve the above object, according to an aspect of an embodiment of the present invention, there is provided a method of determining an output speed of a driver using a photoelectric encoder, including: according to the sampling period t of the photoelectric encoder_sDetermining the measuring speed v of the photoelectric encoder by the actually measured number N of the photoelectric encoder and the reduction ratio K of the driver; according to the preset speed of the driverAnd the measured speed v of the photoelectric encoder determines the output speed of the driver

Optionally, the method further comprises: using the formula

Determining an output speed of the driveWhere i denotes the ith measurement, i is 1,2,3, … n,output speed, v, of the drive representing the i +1 th measurement_iThe measurement speed of the photoelectric encoder representing the ith measurement,representing the preset speed of the drive at the ith measurement.

Optionally, the method further comprises: using the formula

Determining an output speed of the driveWherein a is a weight coefficient, 0 < a < 1, i represents the ith measurement, i is 1,2,3, … n,output speed, v, of the drive representing the i +1 th measurement_iThe measurement speed of the photoelectric encoder representing the ith measurement,representing the preset speed of the drive at the ith measurement.

Optionally, the method further comprises: determining the measured speed v of the photosensor and the output speed of the driver determined according to claim 2Whether the difference between is greater than a noise threshold value, wherein the noise threshold value is based on the sampling period t_sAnd the reduction ratio K is determined; if the difference is not greater than the noise threshold, the output speed of the driver is determined according to claim 3; if the difference is greater than the noise threshold, the output speed of the drive is determined according to claim 2 or a predetermined speed of the drive is used as the output speed of the drive.

Optionally, the calculation formula of the measurement speed v of the photoelectric encoder is

Wherein i represents the ith measurement, i ═ 1,2,3, … n; v. of_iThe measurement speed, N, of the photoelectric encoder representing the ith measurement_iImplementation of said photoelectric encoder representing the ith measurementAnd measuring the quantity.

Optionally, the weight coefficient a is 0.5.

Optionally, the noise threshold isWherein b is more than 0 and less than or equal to 4.

To achieve the above object, according to another aspect of embodiments of the present invention, there is provided an apparatus for determining an output speed of a driver using a photoelectric encoder, including: a measurement module for measuring the sampling period t of the photoelectric encoder_sDetermining the measuring speed v of the photoelectric encoder by the actually measured number N of the photoelectric encoder and the reduction ratio K of the driver; a calculation module for calculating a preset speed of the driverAnd the measured speed v of the photoelectric encoder determines the output speed of the driver

Optionally, the calculation module is further configured to use a formula

Determining an output speed of the driveWhere i denotes the ith measurement, i is 1,2,3, … n,output speed, v, of the drive representing the i +1 th measurement_iThe measurement speed of the photoelectric encoder representing the ith measurement,representing the preset speed of the drive at the ith measurement.

Optionally, the calculation module is further configured to use a formula

Determining an output speed of the driveWherein a is a weight coefficient, 0 < a < 1, i represents the ith measurement, i is 1,2,3, … n,representing the output speed, v, of the i +1 th measurement_iIndicating the measurement speed of the ith measurement,representing the preset speed of the drive at the ith measurement.

Optionally, the calculation module is further configured to determine a measurement speed v of the photosensor and an output speed of the driver determined according to claim 2Whether the difference between is greater than a noise threshold value, wherein the noise threshold value is based on the sampling period t_sAnd the reduction ratio K is determined; if the difference is not greater than the noise threshold, the output speed of the driver is determined according to claim 3; if the difference is greater than the noise threshold, the output speed of the drive is determined according to claim 2 or a predetermined speed of the drive is used as the output speed of the drive.

Optionally, the measurement module is further configured to use a formula

Calculating the measuring speed v of the photoelectric encoder; where i denotes the ith measurement, i ═ 1,2,3, …n；v_iThe measurement speed, N, of the photoelectric encoder representing the ith measurement_iThe number of actual measurements of the photoelectric encoder representing the i-th measurement.

Optionally, the weight coefficient a is 0.5.

Optionally, the noise threshold isWherein b is more than 0 and less than or equal to 4.

To achieve the above object, according to still another aspect of an embodiment of the present invention, there is provided an electronic apparatus including: one or more processors; a storage device to store one or more programs that, when executed by the one or more processors, cause the one or more processors to implement a method of any of the methods of determining an output speed of a drive using a photoelectric encoder.

To achieve the above object, according to still another aspect of embodiments of the present invention, there is provided a computer readable medium having stored thereon a computer program which, when executed by one or more processors, implements any one of the methods of determining an output speed of a drive using a photoelectric encoder.

One embodiment of the above invention has the following advantages or benefits: because the technical means of determining the output speed of the driver according to the measuring speed of the photoelectric encoder and the preset speed of the driver is adopted, the technical problem that the speed noise is high in the traditional method is solved, and the technical effect of improving the speed measuring precision of the photoelectric encoder is achieved.

Further effects of the above-mentioned non-conventional alternatives will be described below in connection with the embodiments.

Drawings

The drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:

FIG. 1 is a schematic diagram of the main steps of a method of determining the output speed of a drive using an optical-to-electrical encoder, in accordance with an embodiment of the present invention;

FIG. 2 is a schematic diagram of the main parts of an apparatus for determining the output speed of a drive using an optical-to-electrical encoder according to an embodiment of the present invention;

FIG. 3 is an exemplary system architecture diagram in which embodiments of the present invention may be employed;

fig. 4 is a schematic block diagram of a computer system suitable for use in implementing a terminal device or server of an embodiment of the invention.

Detailed Description

Exemplary embodiments of the present invention are described below with reference to the accompanying drawings, in which various details of embodiments of the invention are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

FIG. 1 is a schematic diagram of the main steps of a method of determining the output speed of a drive using an optical-to-electrical encoder, according to an embodiment of the invention, as shown in FIG. 1:

step S101 represents the sampling period t according to the photoelectric encoder_sDetermining the measuring speed v of the photoelectric encoder by the actually measured number N of the photoelectric encoder and the reduction ratio K of the driver; the predefined reduction ratio K is one of transmission parameters of the driver, and can be equal to a gear reduction ratio and the like according to different driving modes; n may be a decimal number.

Said measured velocity v_iIs calculated as in formula (1)

Wherein i represents the ith measurement, i ═ 1,2,3, … n; v. of_iThe measurement speed, N, of the photoelectric encoder representing the ith measurement_iThe number of actual measurements of the photoelectric encoder representing the i-th measurement.

Further, the actual number is set to(may be a decimal number), the count deviation for the ith measurement is recorded asTrue speed of the driveIs calculated by the formula

WhereinRepresents the true speed of the drive for the ith measurement, so

However, the actual number of photoelectric encodersAnd true speed of the driveThe measured speed v of the photoelectric encoder has an error because the measured number N has a deviation delta N instead of a known valueSo if the true speed of the drive is calculated by equation (3) onlyWill introduce errorsThe real speed of the driver is the output speed of the driver, and the output speed is directly measured by using a photoelectric encoder in the conventional technology, namely the measured speed of the photoelectric encoder.

According to the counting principle of the photoelectric encoder, the value range of the counting deviation is delta N_i∈[-2,2]Then there is

The relative measurement error isOrThus, the longer the sampling period and/or the greater the speed of the drive, the smaller the relative measurement error, i.e. the greater the count, the smaller the relative measurement error.

Step S102 represents a preset speed according to the driverAnd the measured speed v of the photoelectric encoder determines the output speed of the driverThe preset speed of the driver refers to a target value of the speed set by the system for the driver through commands.

Let the driver true tracking error at the i and i +1 measurementsAre respectively as

The measurement tracking error e of the photoelectric encoder is respectively

In the ideal case, the drive runs smoothly, with transients (within 10 ms)Then there isThen it can be obtained according to equation (3)

Wherein the predicted speed of the drive is

Further, let

Wherein a is a weight coefficient, 0 < a < 1, i represents the ith measurement, i is 1,2,3, … n,output speed, v, of the drive representing the i +1 th measurement_iThe measured speed of the drive representing the i-th measurement,representing the preset speed of the drive measured the ith time. For convenience of calculation, the weight coefficient a is preferably 0.5.

Further, due to Δ N_iFor random disturbance, it satisfies a uniform distribution with a mean value of 0, which is expected to be E Δ N_i)＝0。

The output speed according to equation (5)Is calculated by the formula

Predicted speed of the drive according to equation (4)Is calculated by the formula

Where i denotes the ith measurement, i is 1,2,3, … n,the predicted speed, v, of the drive representing the i +1 th measurement_iThe measured speed of the drive representing the i-th measurement,representing the preset speed of the drive at the ith measurement. In equations (6) and (7), the measured velocity v on the right side of the equation_i、v_i+1And a preset speedAre known quantities, the output speed of the drive can be determined according to equation (6) and equation (7)And predicted speed of the driveFurther, the predicted speed of the drive can be used as the output speed of the drive, i.e. there is

Still further, the method further comprises:

determining the measured speed v of the photoelectric encoder and the predicted speed of the driverWhether the difference between is greater than a noise threshold value, wherein the noise threshold value is based on the sampling period t_sAnd the reduction ratio K is determined.

Is provided with

The difference between the predicted speed value and the measured speed value should be satisfied theoretically

According to the principle of photoelectric encoders, Δ N_i,ΔN_i+1∈[-2,2]Then there is | Δ N_i+ΔN_i+1|≤4，

So that the noise threshold isWherein b is a threshold coefficient, and b is more than 0 and less than or equal to 4.

If the difference is not greater than the noise threshold, the output speed of the driver is usedCalculated according to equation (6).

If the difference is greater than the noise threshold, predicting speed with the driverOr a preset speed of the driveAs output speed of the drive, i.e. OrThe step can filter out speed data with larger noise and improve the calculation precision.

FIG. 2 is a schematic diagram of the main parts of an apparatus 200 for determining the output speed of a drive using an optical-to-electrical encoder according to an embodiment of the present invention, as shown in FIG. 2:

a measurement module 201 for measuring the sampling period t of the photoelectric encoder_sAnd determining the measuring speed v of the photoelectric encoder by the actually measured counting number N of the photoelectric encoder and the reduction ratio K of the driver.

The measurement module 201 is also used to use formulas

Calculating the measuring speed v of the photoelectric encoder; wherein i represents the ith measurement, i ═ 1,2,3, … n; v. of_iThe measurement speed, N, of the photoelectric encoder representing the ith measurement_iThe number of actual measurements of the photoelectric encoder representing the i-th measurement.

A calculation module 202 for calculating a preset speed of the driveAnd the measured speed v of the photoelectric encoder determines the output speed of the driver

The calculation module 202 is also used to use formulas

Determining an output speed of the driveWhere i denotes the ith measurement, i is 1,2,3, … n,output speed, v, of the drive representing the i +1 th measurement_iThe measurement speed of the photoelectric encoder representing the ith measurement,representing the preset speed of the drive at the ith measurement.

The calculation module 202 is also used to use formulas

Determining an output speed of the driveWherein a is a weight coefficient, 0 < a < 1, i represents the ith measurement, i is 1,2,3, … n,output speed, v, of the drive representing the i +1 th measurement_iThe measurement speed of the photoelectric encoder representing the ith measurement,representing the preset speed of the drive at the ith measurement. The weight coefficient a is preferably 0.5.

The calculation module 202 is also used to determine the measured speed v of the photosensor and the output speed of the driver determined according to claim 2Whether a difference between is greater than a noise threshold, wherein the noise isAcoustic threshold value according to said sampling period t_sAnd the reduction ratio K is determined; the noise threshold isWherein b is more than 0 and less than or equal to 4.

If the difference is not greater than the noise threshold, the output speed of the driver is based onAnd (4) determining.

If the difference is greater than the noise threshold, the output speed of the driver is based onDetermining or taking a preset speed of the drive as an output speed of the drive.

Fig. 3 illustrates an exemplary system architecture 300 of a method of determining an output speed of a drive using an optical-to-electrical encoder or an apparatus for determining an output speed of a drive using an optical-to-electrical encoder to which embodiments of the present invention may be applied.

As shown in fig. 3, the system architecture 300 may include terminal devices 301, 302, 303, a network 304, and a server 305. The network 304 serves as a medium for providing communication links between the terminal devices 301, 302, 303 and the server 305. Network 304 may include various connection types, such as wired, wireless communication links, or fiber optic cables, to name a few.

The user may use the terminal device 301, 302, 303 to interact with the server 305 via the network 304 to receive or send messages or the like.

The terminal devices 301, 302, 303 may be various electronic devices having a display screen and supporting web browsing, including but not limited to smart phones, tablet computers, laptop portable computers, desktop computers, and the like.

The server 305 may be a server providing various services, such as a background management server providing support for users using the terminal devices 301, 302, 303.

It should be noted that a method for determining the output speed of the drive by using the optical-electrical encoder provided by the embodiment of the present invention is generally executed by the server 305, and accordingly, an apparatus for determining the output speed of the drive by using the optical-electrical encoder is generally disposed in the server 305.

It should be understood that the number of terminal devices, networks, and servers in fig. 3 is merely illustrative. There may be any number of terminal devices, networks, and servers, as desired for implementation.

FIG. 4 is a block diagram of a computer system 400 suitable for implementing a terminal device of an embodiment of the present invention. The terminal device shown in fig. 4 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.

As shown in fig. 4, the computer system 400 includes a Central Processing Unit (CPU)401 that can perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)402 or a program loaded from a storage section 408 into a Random Access Memory (RAM) 403. In the RAM 403, various programs and data necessary for the operation of the system 400 are also stored. The CPU 401, ROM 402, and RAM 403 are connected to each other via a bus 404. An input/output (I/O) interface 405 is also connected to bus 404.

The following components are connected to the I/O interface 405: an input section 406 including a keyboard, a mouse, and the like; an output section 407 including a display device such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage section 408 including a hard disk and the like; and a communication section 409 including a network interface card such as a LAN card, a modem, or the like. The communication section 409 performs communication processing via a network such as the internet. A driver 410 is also connected to the I/O interface 405 as needed. A removable medium 411 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 410 as necessary, so that a computer program read out therefrom is mounted into the storage section 408 as necessary.

In particular, the processes described in the above step diagrams may be implemented as computer software programs, according to embodiments of the present disclosure. For example, the disclosed embodiments of the invention include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the step diagrams. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 409, and/or installed from the removable medium 411. The computer program performs the above-described functions defined in the system of the present invention when executed by a Central Processing Unit (CPU) 401.

It should be noted that the computer readable media shown in the present invention include computer readable signal media or computer readable storage media, or any combination of the two. A computer readable storage medium includes, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, semiconductor system, apparatus, or device, or any combination of the foregoing. Computer-readable storage media specifically include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any combination of the foregoing. In the present invention, a computer readable storage medium includes any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device; a computer readable signal medium includes a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave, which may take many forms, including, but not limited to, electromagnetic signals, optical signals, or any combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF (radio frequency), etc., or any combination of the preceding.

The block diagrams or step diagrams in the figures, which illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention, may each represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or step diagrams, and combinations of blocks in the block diagrams or step diagrams, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The modules or units described in the embodiments of the present invention may be implemented by software, or may be implemented by hardware. The described modules or units may also be provided in a processor, and may be described as: a processor includes a measurement module and a calculation module. Where the names of these modules or units do not in some way constitute a limitation of the module or unit itself, for example, the calculation module may also be described as "for a preset speed of the driveAnd the measured speed v of the photoelectric encoder determines the output speed of the driverThe module of (1) ".

On the other hand, the embodiment of the present invention also provides a computer-readable medium, which may be included in the apparatus described in the above embodiment; or may be separate and not incorporated into the device. The above computer readableThe medium carries one or more programs which, when executed by an apparatus, cause the apparatus to comprise: according to the sampling period t of the photoelectric encoder_sDetermining the measuring speed v of the photoelectric encoder by the actually measured number N of the photoelectric encoder and the reduction ratio K of the driver; according to the preset speed of the driverAnd the measured speed v of the photoelectric encoder determines the output speed of the driver

According to the technical scheme of the embodiment of the invention, the speed measurement noise can be reduced by analyzing the speed measurement principle and the error source of the photoelectric encoder, and the abnormal data rejection standard is determined, so that the accuracy of measuring the speed by using the photoelectric encoder is improved.

The above-described embodiments should not be construed as limiting the scope of the invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions can occur, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.