Absolute multi-pole encoder with a simple structure based on an improved gray code to enhance the resolution ∗

We developed a novel absolute multi-pole encoder structure to improve the resolution of the multi-pole encoder, realize absolute output and reduce the manufacturing cost of the encoder. The structure includes two ring alnicos defined as index track and sub-division track, respectively. The index track is magnetized based on the improved gray code, with linear halls placed around the track evenly. The outputs of linear halls show the region the rotor belongs to. The sub-division track is magnetized to N-S-N-S (north-south-north-south), and the number of N-S pole pairs is determined by the index track. Three linear hall sensors with an air-gap of 2 mm are used to translate the magnetic filed to voltage signals. The relative offset in a single N-S is obtained through look-up. The magnetic encoder is calibrated using a higher-resolution incremental optical encoder. The pulse output from the optical encoder and hall signals from the magnetic encoder are sampled at the same time and transmitted to a computer, and the relation between them is calculated, and stored in the FLASH of MCU (micro controller unit) for look-up. In the working state, the absolute angle is derived by looking-up with hall signals. The structure is simple and the manufacturing cost