Position ring cross-antipode continuous encoding method based on multi-antipode encoder

The invention discloses a position ring cross-antipode continuous encoding method based on a multi-antipode encoder. The position ring cross-antipode continuous encoding method comprises the followingsteps: acquiring an encoder position zero point; determining forward and reverse rotation and antipodal crossing conditions of the encoder according to the current codeword of the encoder and the position zero point of the encoder; and computing position loop feedback codes. Position feedback code words are continuous so that the multi-antipode encoder can be installed at any angle, whether the encoder is in a quadrant of the encoder or not does not need to be detected after one-time installation, the installation difficulty is greatly simplified and the installation time is shortened. 本发明公开了一种基于多对极编码器的位置环跨对极连续编码方法，获取编码器位置零点；根据编码器当前码字和编码器位置零点，确定编码器正反转及跨对极情况；计算位置环反馈码。本发明位置反馈码字连续，使得多对极编码器可以任意角度安装，一次安装后不需要再检测是否在编码器一个象限中，从而大大简化安装难度，缩短安装时间。