CN112362089A - Multi-pair-pole magnetoelectric encoder and high-resolution and high-reliability angle resolving method thereof - Google Patents

Multi-pair-pole magnetoelectric encoder and high-resolution and high-reliability angle resolving method thereof Download PDF

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CN112362089A
CN112362089A CN202011186242.6A CN202011186242A CN112362089A CN 112362089 A CN112362089 A CN 112362089A CN 202011186242 A CN202011186242 A CN 202011186242A CN 112362089 A CN112362089 A CN 112362089A
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theta
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angle value
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CN112362089B (en
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王磊
潘星宇
肖磊
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Hunan Aerospace Magnet and Magneto Co Ltd
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Harbin University of Science and Technology
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/24457—Failure detection
    • G01D5/24466—Comparison of the error value to a threshold
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
    • G01D5/2451—Incremental encoders
    • G01D5/2452—Incremental encoders incorporating two or more tracks having an (n, n+1, ...) relationship

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Abstract

The invention relates to a multi-pair-pole magnetoelectric encoder and a high-resolution high-reliability angle resolving method thereof. The single-pair-pole magnetic steel is used for determining the absolute position information of the rotating shaft, and the two multi-pair-pole magnetic steels are used for improving the resolution of the encoder. And resolving the angle information of the three magnetic steels by using an arc tangent formula, and subdividing the multi-pair polar angle values according to the mapping relation of the single-pair polar angle values and the multi-pair polar angle values.

Description

Multi-pair-pole magnetoelectric encoder and high-resolution and high-reliability angle resolving method thereof
Technical Field
The invention relates to a magnetoelectric encoder, in particular to a multi-pair-electrode magnetoelectric encoder and a high-resolution and high-reliability angle calculating method thereof, and belongs to the field of magnetoelectric encoder manufacturing.
Background
At present, a magnetoelectric encoder has wide application in the measurement field, and has higher requirements on indexes such as resolution, precision and the like of an angular displacement sensor along with the accelerated development of industrialization. At present, magnetoelectric encoders and photoelectric encoders are widely used as angular displacement sensors. The photoelectric encoder has high precision, but has larger volume and is fragile. In contrast, the magnetoelectric encoder can work in a more severe environment, but the resolution of the magnetoelectric encoder is difficult to improve. A conventional magnetoelectric encoder structure generally includes a stator, a rotor, and a sensor, and a permanent magnet is fixed to the rotor to form a magnetic circuit system. Permanent magnet is rotatory along with the rotor, form rotatory magnetic field signal in rotatory in-process, magnetoelectric encoder signal detection board is in quiescent condition for motor stator, gather the magnetic field signal of change through the hall device on the signal detection board, solve through signal processing and obtain current rotor angular position, in order to improve magnetoelectric encoder angle value resolution, adopt the mode of single antipode magnet steel and many antipode magnet steel combination to improve angle value resolution, many antipode magnet steel rotate a week and produce multicycle signal magnetic field, single antipode magnet steel rotate a week and produce monocycle magnetic field. The absolute position of the current angle value is determined through the single-period magnetic field, and the angle value signals generated by the multiple pairs of poles divide the angle value obtained by resolving the single-pair pole signals, so that the resolution of the angle value is improved.
However, the number of magnetized pole pairs of the multi-pair pole permanent magnet is limited by the process of the magnetizing process, only the limited number of pole pairs can be magnetized in the limited perimeter of the permanent magnet, the limited number of pole pairs also limits the resolution of the multi-pair pole magnetoelectric encoder, and in order to further improve the resolution of the magnetoelectric encoder, the invention provides the multi-turn multi-pair pole magnetoelectric encoder.
Disclosure of Invention
Aiming at the problems, the invention provides a three-ring multi-pair-electrode magnetoelectric encoder and an angle calculating method thereof, and the solution for solving the technical problems is as follows:
a multi-pair pole magnetoelectric encoder high resolution high reliability angle solution method, the method is applied to a multi-pair pole magnetoelectric encoder;
a multi-pair-pole magnetoelectric encoder high-resolution and high-reliability angle resolving method is specifically realized by the following steps:
step one, resolving an angle value:
specifically, the motor rotating shaft rotates, the magnetic steel is glued with the motor rotating shaft, so that the single-pair-pole magnetic steel, the m-pair-pole magnetic steel and the n-pair-pole magnetic steel synchronously rotate, the single-pair-pole magnetic steel, the m-pair-pole magnetic steel and the n-pair-pole magnetic steel synchronously generate axial magnetic fields, the single-pair-pole Hall a1 and the single-pair-pole Hall a2 are welded with the encoder signal resolving plate in a soldering manner, and the single-pair-pole Hall a1 and the single-pair-pole Hall a2 are perpendicular to each; the multi-pair hall b1 and the multi-pair hall b2 are welded with the encoder signal resolving plate in a soldering mode, and an included angle theta is formed between the multi-pair hall b1 and the multi-pair hall b22mThe calculation formula is as follows:
Figure BDA0002751511900000021
in the formula, m is the number of magnetized pole pairs of m pairs of pole magnetic steels, and h is a natural number;
the multi-pair hall c1 and the multi-pair hall c2 are welded with the encoder signal resolving plate in a soldering mode, and an included angle theta is formed between the multi-pair hall c1 and the multi-pair hall c23mThe calculation formula is as follows:
Figure BDA0002751511900000022
in the formula, n is the number of magnetized pole pairs of n pairs of pole magnetic steels, and l is a natural number;
at the moment, the single-antipodal magnetic steel rotates, the single-antipodal Hall a1 and the single-antipodal Hall a2 collect single-antipodal angle value signals A & lt + & gt and A & lt- & gt, an encoder signal resolving plate performs analog-to-digital conversion on the angle value analog signals A & lt + & gt and A & lt- & gt to obtain angle value digital signals HA & lt + & gt and HA & lt- & gt, and then the obtained single-antipodal angle value digital signals HA & lt + & gt and HA & lt- & gt are resolved to obtain a single-antipodal1And resolving the formula (3) as shown in the specification:
Figure BDA0002751511900000031
collecting multiple antipodal angle value signals B + and B-by the multiple antipodal Hall B1 and the multiple antipodal Hall B2, performing analog-to-digital conversion on the angular value analog signals B + and B-by an encoder signal resolving plate to obtain angle value digital signals HB + and HB-, and resolving the obtained multiple antipodal angle value digital signals HB + and HB-to obtain multiple antipodal angle value theta2Solving equation (4) is as follows:
Figure BDA0002751511900000032
collecting multi-pair polar angle value signals C + and C-by multi-pair polar Hall C1 and multi-pair polar Hall C2, performing analog-to-digital conversion on the angular value analog signals C + and C-by an encoder signal resolving plate to obtain angular value digital signals HC + and HC-, and resolving the obtained multi-pair polar angle value digital signals HC + and HC-to obtain multi-pair polar angle value theta3The formula (5) is solved as follows:
Figure BDA0002751511900000033
step two, according to the single-antipodal angle value theta1And a plurality of pairs of polar angle values theta2The mapping relation subdivides the multiple pairs of polar angle values, and the specific process is as follows:
single-pole angle value theta1Angle of multiple pairs of poles theta2Angle of multiple pairs of poles theta3Are all in the range of [0, M]The angle value of the single pair of poles is changed from 0 to M once when the rotating shaft of the motor rotates for a circle, and the angle value theta of the multiple pairs of poles is changed once2Change M times from 0 to M, multiple pairs of polar angle values theta3Changing the value from 0 to M n times;
according to a single-dipole angle value theta1Angle of multiple pairs of poles theta2Subdividing the multiple pairs of polar angle values according to the multiple pairs of polar angle values theta2The difference value between the front and rear, and the multi-pair polar angle value theta2Zero crossing point position of theta2(i)For the current calculation cycle many pairs of polar angle values, θ2(i-1)For the last calculation cycle a number of pairs of polar angle values, θ2err(i)Calculating a period difference for the front and rear angle values according to theta2err(i)Judging the position of a zero crossing point of a plurality of pairs of polar angle values in the numerical range;
when in use
Figure BDA0002751511900000041
Or
Figure BDA0002751511900000042
Then, the angle value theta of the multiple pairs of poles is considered2(i)At a zero crossing point position; recording the zero crossing point position i and the corresponding single-pair polar angle value in a table, and storing the table in a memory of a single chip microcomputer, wherein the zero crossing point position i corresponds to the single-pair polar angle value theta2(i)In other words, the motor rotating shaft rotates for a circle, and zero-crossing points occur m times, so that single-pole angle values corresponding to the m zero-crossing points need to be recorded and stored in the memory of the single chip microcomputer, and the current multi-pole angle value theta is judged according to the single-pole angle value recorded data2(i)The multi-pair polar logarithm is obtained by looking up a table according to the single-pair polar angle value2(i)At the k-th pole position, where the subdivided plural pairs of pole angle values theta2seg(i)Is composed of
θ2seg(i)＝θ2(i)+(k-1)*M (6)
At this time, the subdivided multi-pair polar angle values theta2seg(i)The angle value of (1) is in the range of [0, M M × M ]]At this time, the resolution of the angle value is improved, and the range [0, M ] is changed from the initial angle value]Change to [0, M M]；
Step three, according to the single-antipodal angle value theta1And a plurality of pairs of polar angle values theta3The mapping relation subdivides the multiple pairs of polar angle values, and the specific process is as follows:
according to a single-dipole angle value theta1Angle of multiple pairs of poles theta3Subdividing the multiple pairs of polar angle values according to the multiple pairs of polar angle values theta3The difference value between the front and rear, and the multi-pair polar angle value theta3Zero crossing point position of theta3(i)For the current calculation cycle many pairs of polar angle values, θ3(i-1)For the last calculation cycle a number of pairs of polar angle values, θ3err(i)Calculating a period for the front and rear angle valuesDifference in accordance with θ3err(i)Judging the position of a zero crossing point of a plurality of pairs of polar angle values in the numerical range;
when in use
Figure BDA0002751511900000043
Or
Figure BDA0002751511900000044
Then, the angle value theta of the multiple pairs of poles is considered3(i)At a zero crossing point position; recording the zero crossing point position i and the corresponding single-pair polar angle value in a table, and storing the table in a memory of a single chip microcomputer, wherein the zero crossing point position i corresponds to the single-pair polar angle value theta3(i)In other words, the motor rotating shaft rotates for a circle, and n zero-crossing points occur, so that single-pole angle values corresponding to the n zero-crossing points need to be recorded and stored in the memory of the single chip microcomputer, and the current multi-pole angle value theta is judged according to the single-pole angle value recorded data3(i)The multi-pair polar logarithm is obtained by looking up a table according to the single-pair polar angle value3(i)At the j-th pole position, where the subdivided multiple pairs of pole angle values theta3seg(i)Is composed of
θ3seg(i)＝θ3(i)+(j-1)*M (7)
At this time, the subdivided multi-pair polar angle values theta3seg(i)The angle value of (1) is in the range of [0, M n%]At this time, the resolution of the angle value is improved, and the range [0, M ] is changed from the initial angle value]Change to [0, M n]；
Step four, according to the single-antipodal angle value theta1Multiple pairs of polar angle values theta2Angle of multiple pairs of poles theta3The mapping relation subdivides the multiple pairs of polar angle values, and the specific process is as follows:
the obtained current calculation period angle value theta2(i)、θ3(i)Add to form θ4(i)；
θ4(i)＝θ2(i)+θ3(i) (8)
When theta is4(i)When > M, theta4(i)＝θ4(i)-M；
Single-pole angle value theta1Angle of multiple pairs of poles theta2Angle of multiple pairs of poles theta3Are all in the range of [0, M]The angle value of the single pair of poles is changed from 0 to M once when the rotating shaft of the motor rotates for a circle, and the angle value theta of the multiple pairs of poles is changed once2Change M times from 0 to M, multiple pairs of polar angle values theta3Changing the value from 0 to M n times, and dividing theta2(i)And theta3(i)Add when theta4(i)In the case of one rotation of the motor shaft, theta4(i)Changing the value from 0 to M for M + n times;
according to a single-dipole angle value theta1Angle of multiple pairs of poles theta4Subdividing the multiple pairs of polar angle values according to the multiple pairs of polar angle values theta4The difference value between the front and rear, and the multi-pair polar angle value theta4Zero crossing point position of theta4(i)For the current calculation cycle many pairs of polar angle values, θ4(i-1)For the last calculation cycle a number of pairs of polar angle values, θ4err(i)Calculating a period difference for the front and rear angle values according to theta4err(i)Judging the position of a zero crossing point of a plurality of pairs of polar angle values in the numerical range;
when in use
Figure BDA0002751511900000051
Or
Figure BDA0002751511900000052
Then, the angle value theta of the multiple pairs of poles is considered4(i)At a zero crossing point position; recording the zero crossing point position i and the corresponding single-pair polar angle value in a table, and storing the table in a memory of a single chip microcomputer, wherein the zero crossing point position i corresponds to the single-pair polar angle value theta4(i)In other words, the motor rotating shaft rotates for a circle, and zero-crossing points occur m + n times, so that single-pole angle values corresponding to the m + n zero-crossing points need to be recorded and stored in the memory of the single chip microcomputer, and the current multi-pole angle value theta is judged according to the single-pole angle value recorded data4(i)The multi-pair polar logarithm is obtained by looking up a table according to the single-pair polar angle value4(i)At the p-th pole position, where the subdivided multiple pairs of pole angle values theta4seg(i)Comprises the following steps:
θ4seg(i)＝θ4(i)+(p-1)*M (9)
at this time thinDivided multiple pairs of polar angle values theta4seg(i)The angle value of (1) is in the range of [0, M (M + n)]At this time, the resolution of the angle value is improved, and the range [0, M ] is changed from the initial angle value]Change to [0, M (M + n)]；
Obtaining the subdivided multi-pair polar angle values theta according to the method in the step2seg、θ3seg、θ4segWherein theta2segThe variation range of the angle value is [0, M M × ]]，θ3segThe variation range of the angle value is [0, M n%]，θ4segThe variation range of the angle value is [0, M (M + n)]；
Step five, outputting the high-reliability angle value, wherein the specific process is as follows:
single antipodal angle value theta1The subdivided multi-pair polar angle values theta2seg、θ3segPerforming equal-scale amplification to obtain angle value [0, M (M + n)]The angle value of the single pair of poles after the equal proportion amplification is theta1zIt can be expressed as:
θ1z＝θ1*(m+n) (10)
dividing the subdivided multi-pair polar angle values theta2seg、θ3segCarrying out equal-proportion amplification, wherein the angle value of the multiple pairs of poles after the equal-proportion amplification is theta2z、θ3zIt can be expressed as:
Figure BDA0002751511900000061
Figure BDA0002751511900000062
after being amplified in equal proportion, theta1z、θ2z、θ3zAnd theta4segAll the angle values of (1) are [0, M (M + n) ]]At θ1zBased on the obtained theta1zAnd theta2z、θ3z、θ4segAngle difference of (d):
Δerr2＝θ1z-θ2z (13)
Δerr3＝θ1z-θ3z (14)
Δerr4＝θ1z-θ4seg (15)
after the angle value theta of the single pole pair is amplified in equal proportion1zIn abscissa, respectively, Δ err2、Δerr3、Δerr4Tabulating for the ordinate;
in the actual working process, the single-pole angle value theta of the current calculation period is used1z(i) Respectively inquiring corresponding ordinate compensation values delta err for the basis of table look-up2(i)、Δerr3(i)、Δerr4(i) At this time, the compensated angle value theta2f(i)、θ3f(i)、θ4f(i) Comprises the following steps:
θ2f(i)＝θ2z(i)+Δerr2(i) (16)
θ3f(i)＝θ3z(i)+Δerr3(i) (17)
θ4f(i)＝θ4seg(i)+Δerr4(i) (18)
the four-way angle value theta obtained at this time1z、θ2f、θ3f、θ4fThe variation trends of the angle values are consistent, only the actual resolution of the angle values is different, and then theta is measured4fTrue resolution of greater than theta3fTrue resolution of theta3fTrue resolution of greater than theta2fTrue resolution of theta2fTrue resolution of greater than theta1zThe true resolution of (d);
during actual operation, the priority is given to using theta4fAs a motor angle value feedback signal for a servo control system, and then theta3f、θ2fAnd theta1z；
Setting a normal angle deviation range as xi;
when theta4f-θ3f|＜ξ，|θ3f-θ2f|＜ξ，|θ2f-θ1When z | < xi are satisfied at the same time, theta is used4fOutputting as a final angle value;
when theta4f-θ3f|≥ξ，|θ3f-θ2f|＜ξ，|θ2f-θ1When z | < xi are satisfied at the same time, then theta is considered to be4fThe angle value calculation process is failed, and theta is used3fOutputting as a final angle value;
when theta4f-θ3f|≥ξ，|θ3f-θ2f|≥ξ，|θ2f-θ1zWhen | is less than xi, theta is considered at the moment4f、θ3fThe angle value calculation process is failed, and theta is used2fOutputting as a final angle value;
when theta4f-θ3f|≥ξ，|θ3f-θ2f|≥ξ，|θ2f-θ1zWhen | is more than or equal to xi simultaneously, the theta is considered at the moment4f、θ3f、θ2fThe angle value calculation process is failed, and theta is used1zAnd outputting the final angle value.
The invention has the beneficial effects that:
1. the structure of the single-antipode permanent magnet and two circles of multi-antipode permanent magnets is adopted, the reliability of angle value calculation is improved, when a certain multi-antipode permanent magnet structure or the calculation process fails, the angle value obtained by resolving another multi-antipode permanent magnet or the single-antipode angle value can be used as the final angle value to be output, and the reliability of angle value output is improved.
2. In order to improve the angle value resolution of the magnetoelectric encoder, a combination mode of a single-pair-pole permanent magnet and a multi-pair-pole permanent magnet is adopted, the higher the number of magnetized pole pairs of the multi-pair-pole permanent magnet is, the higher the resolution of the angle value of the finally obtained subdivision is, but due to the limitation of the process of magnetizing, only the limited number of pole pairs can be magnetized on the circumference of the limited multi-pair-pole magnetic steel.
3. The two rings of the encoder are distributed in the radial space, so that the compactness of the encoder structure is improved, and the axial size of the encoder is reduced.
4. The subdivision process of a plurality of pairs of polar angle values adopts a table look-up mode, the calculation process of the angle values is simple and rapid, and the fault judgment process of the angle values adopts a difference value comparison method, so that the method is easy to realize and program and occupies very little singlechip calculation resources.
Drawings
For ease of illustration, the invention is described in detail by the following detailed description and the accompanying drawings.
FIG. 1 is a schematic diagram of the overall structure of a multi-turn multi-pair pole magnetoelectric encoder;
FIG. 2 is a cross-sectional schematic view of an encoder mount;
FIG. 3 is a schematic diagram of a Hall encoder structure;
FIG. 4 is a graph of the angle value digital signal of single-pole magnetic steel in relation to the angle;
FIG. 5 is a graph of the relationship between the digital signal of the angle value of the m pairs of magnetic pole steels and the angle;
FIG. 6 is a graph of the relationship between the digital signal of the angle value of the m pairs of magnetic pole steels and the angle;
FIG. 7 is a single-antipodal angle value θ1Angle of multiple pairs of poles theta2Angle of multiple pairs of poles theta3Mapping a relation coordinate graph;
FIG. 8 is a graph of the subdivided pairs of polar angle values θ2seg(i)A coordinate graph of the variation range of the angle value;
FIG. 9 is a graph of the subdivided pairs of polar angle values θ3seg(i)A coordinate graph of the variation range of the angle value;
FIG. 10 shows a rotation of the motor shaft by a circle θ4(i)An angle value change coordinate graph;
FIG. 11 is a graph of the subdivided pairs of polar angle values θ4seg(i)A coordinate graph of the variation range of the angle value;
FIG. 12 is a graph of θ after being enlarged to equal scale1z、θ2z、θ3z、θ4segAn angle value range coordinate graph of (1);
FIG. 13 is a four-way angle value θ1z、θ2f、θ3f、θ4fAnd (5) an angle value change trend coordinate graph.
In the figure: 1. a magnetic steel bracket; 2. single-pair magnetic steel; 2-1, single-pair hall a 1; 2-2, single-pair hall a 2; 3. m pairs of magnetic steel poles; 3-1, multi-pair hall b 1; 3-2, multi-pair hall b 2; 4. n pairs of magnetic steel poles; 4-1, multi-pair hall c 1; 4-2, multi-pair hall c 2; 5. an encoder support; 5-1, the front end of the encoder bracket; 5-2, the rear end of the encoder bracket; 6. a Hall encoder; 6-1, an encoder signal resolving board; 7. a motor shaft; 7-1, the end part of a motor rotating shaft; 8. motor ring flange.
Detailed Description
In order that the objects, aspects and advantages of the invention will become more apparent, the invention will be described by way of example only, and in connection with the accompanying drawings. It is to be understood that such description is merely illustrative and not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
The following further describes specific structures and embodiments of the present invention with reference to the drawings.
As shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8, fig. 9, fig. 10, fig. 11, fig. 12, and fig. 13, the present embodiment adopts the following technical solutions:
a many antipodes magnetoelectric encoder of many circles, by magnet steel support 1, single antipode magnet steel 2, m antipode magnet steel 3, n antipode magnet steel 4, encoder support 5, 6 six parts of hall encoder constitute its characterized in that: m antipodal magnet steel 3, n antipodal magnet steel 4 glue respectively and connect in magnet steel support 1 inslot, and magnet steel support 1 splices on motor shaft 7, and single antipodal magnet steel 2 splices at the motor shaft tip for the motor shaft drives the magnet steel rotation and produces the magnetic field signal, and 5-1 threaded connection of hall encoder support front end is on motor ring flange 8, and 5-2 threaded connection hall encoder 6 in encoder support rear end.
Further, the hall encoder includes: the encoder signal resolving plate 6-1, the single-pair Hall a12-1, the single-pair Hall a22-2, the multi-pair Hall b13-1, the multi-pair Hall b23-2, the multi-pair Hall c14-1 and the multi-pair Hall c24-2 are welded on the encoder signal resolving plate 6-1 through soldering tin, wherein the single-pair Hall a12-1 and the single-pair Hall a22-2 have included angles of 90 degrees and correspond to the single-pair magnetic steel2 right above the position, the included angle of the multi-pair Hall b13-1 and the multi-pair Hall b23-2 is theta2mSoldering tin is welded at the position right above the m pairs of polar magnetic steel 3 corresponding to the encoder signal resolving plate 6-1, and the included angles of the multi-pair hall c14-1 and the multi-pair hall c24-2 are theta3mAnd the soldering tin is welded at the position right above the n pairs of polar magnetic steels 4 corresponding to the encoder signal resolving plate 6-1 and is used for receiving magnetic field signals.
In conclusion, the calculation of the angle value of the magnetoelectric encoder is realized.
A multi-pair pole magnetoelectric encoder high resolution high reliability angle solution method, the method is applied to a multi-pair pole magnetoelectric encoder;
a multi-pair-pole magnetoelectric encoder high-resolution and high-reliability angle resolving method is specifically realized by the following steps:
in this example, the number of pairs of magnetized poles of the first ring of multi-pair permanent magnet is m-2 pairs, and the number of pairs of magnetized poles of the second ring of multi-pair permanent magnet is n-3 pairs, and the specific steps are as follows:
step one, resolving an angle value:
specifically, the motor rotating shaft rotates, the magnetic steel is glued with the motor rotating shaft, so that the single-pair-pole magnetic steel, the m-pair-pole magnetic steel and the n-pair-pole magnetic steel synchronously rotate, the single-pair-pole magnetic steel, the m-pair-pole magnetic steel and the n-pair-pole magnetic steel synchronously generate axial magnetic fields, the single-pair-pole Hall a1 and the single-pair-pole Hall a2 are welded with the encoder signal resolving plate in a soldering manner, and the single-pair-pole Hall a1 and the single-pair-pole Hall a2 are perpendicular to each; the multi-pair hall b1 and the multi-pair hall b2 are welded with the encoder signal resolving plate in a soldering mode, and an included angle theta is formed between the multi-pair hall b1 and the multi-pair hall b22mThe calculation formula is as follows:
Figure BDA0002751511900000111
in the formula, m is 2, h is 0, and the number of pairs of magnetized poles of the m pairs of pole magnetic steels is m;
the multi-pair hall c1 and the multi-pair hall c2 are welded with the encoder signal resolving plate in a soldering mode, and an included angle theta is formed between the multi-pair hall c1 and the multi-pair hall c23mThe calculation formula is as follows:
Figure BDA0002751511900000112
in the formula, n is 3 and l is 0, wherein n is the number of magnetized pole pairs of n pairs of pole magnetic steels;
at the moment, the single-antipode magnetic steel rotates, the single-antipode Hall a1 and the single-antipode Hall a2 collect single-antipode angle value signals A & lt + & gt and A & lt- & gt, an encoder signal resolving plate performs analog-to-digital conversion on the angle value analog signals A & lt + & gt and A & lt- & gt to obtain angle value digital signals HA & lt + & gt and HA & lt- & gt, as shown in figure 4, the obtained single-antipode angle value digital signals HA & lt + & gt and HA & lt- & gt are resolved to obtain single-antipode angle value1And resolving the formula (3) as shown in the specification:
Figure BDA0002751511900000113
collecting multiple antipodal angle value signals B + and B-by the multiple antipodal Hall B1 and the multiple antipodal Hall B2, performing analog-to-digital conversion on the angular value analog signals B + and B-by the encoder signal resolving plate to obtain angle value digital signals HB + and HB-, as shown in FIG. 5, and resolving the obtained multiple antipodal angle value digital signals HB + and HB to obtain multiple antipodal angle value theta2Solving equation (4) is as follows:
Figure BDA0002751511900000121
collecting multi-pair polar angle value signals C + and C-by multi-pair polar Hall C1 and multi-pair polar Hall C2, performing analog-to-digital conversion on the angular value analog signals C + and C-by an encoder signal resolving plate to obtain angular value digital signals HC + and HC-, as shown in FIG. 6, and resolving the obtained multi-pair polar angle value digital signals HC + and HC-to obtain multi-pair polar angle value theta3The formula (5) is solved as follows:
Figure BDA0002751511900000122
step two, according to the single-antipodal angle value theta1And a plurality of pairs of polar angle values theta2The mapping relation subdivides the multiple pairs of polar angle values, and the specific process is as follows:
single-pole angle value theta1Angle of multiple pairs of poles theta2Angle of multiple pairs of poles theta3Are all in the range of [0, 65535]The angle value of single pair of poles is changed from 0 to 65535 once and the angle value theta of multiple pairs of poles is changed once when the rotating shaft of the motor rotates for a circle2Change 2 times from 0 to 65535, multiple pairs of polar angle values theta3Change 3 times from 0 to 65535, as shown in FIG. 7;
according to a single-dipole angle value theta1Angle of multiple pairs of poles theta2Subdividing the multiple pairs of polar angle values according to the multiple pairs of polar angle values theta2The difference value between the front and rear, and the multi-pair polar angle value theta2Zero crossing point position of theta2(i)For the current calculation cycle many pairs of polar angle values, θ2(i-1)For the last calculation cycle a number of pairs of polar angle values, θ2err(i)Calculating a period difference for the front and rear angle values according to theta2err(i)Judging the position of a zero crossing point of a plurality of pairs of polar angle values in the numerical range;
when in use
Figure BDA0002751511900000123
Or
Figure BDA0002751511900000124
When M is 65535, the multi-polar angle value θ is considered2(i)At a zero crossing point position; recording the zero crossing point position i and the corresponding single-pair polar angle value in a table, and storing the table in a memory of a single chip microcomputer, wherein the zero crossing point position i corresponds to the single-pair polar angle value theta2(i)In other words, the motor shaft rotates for one circle and zero-crossing points occur for 2 times, so that single-pole angle values corresponding to the 2 zero-crossing points need to be recorded and stored in the memory of the single chip microcomputer, and the current multi-pole angle value theta is judged according to the single-pole angle value recorded data2(i)The multi-pair polar logarithm is obtained by looking up a table according to the single-pair polar angle value2(i)At the k-th pole position, where the subdivided plural pairs of pole angle values theta2seg(i)Is composed of
θ2seg(i)＝θ2(i)+ (k-1) × M (wherein M is 65535) (6)
At this time, the subdivided multi-pair polar angle values theta2seg(i)The angle value of (1) is in the range of [0, 65535 x 2 ]]As shown in FIG. 8, the resolution of the angle values is now improved, ranging from the initial angle values [0, 65535]Change to [0, 65535 x 2 ]]；
Step three, according to the single-antipodal angle value theta1And a plurality of pairs of polar angle values theta3The mapping relation subdivides the multiple pairs of polar angle values, and the specific process is as follows:
according to a single-dipole angle value theta1Angle of multiple pairs of poles theta3Subdividing the multiple pairs of polar angle values according to the multiple pairs of polar angle values theta3The difference value between the front and rear, and the multi-pair polar angle value theta3Zero crossing point position of theta3(i)For the current calculation cycle many pairs of polar angle values, θ3(i-1)For the last calculation cycle a number of pairs of polar angle values, θ3err(i)Calculating a period difference for the front and rear angle values according to theta3err(i)Judging the position of a zero crossing point of a plurality of pairs of polar angle values in the numerical range;
when in use
Figure BDA0002751511900000131
Or
Figure BDA0002751511900000132
When M is 65535, the multi-polar angle value θ is considered3(i)At a zero crossing point position; recording the zero crossing point position i and the corresponding single-pair polar angle value in a table, and storing the table in a memory of a single chip microcomputer, wherein the zero crossing point position i corresponds to the single-pair polar angle value theta3(i)In other words, the motor rotating shaft rotates for a circle, and n zero-crossing points occur, so that single-pole angle values corresponding to the n zero-crossing points need to be recorded and stored in the memory of the single chip microcomputer, and the current multi-pole angle value theta is judged according to the single-pole angle value recorded data3(i)The multi-pair polar logarithm is obtained by looking up a table according to the single-pair polar angle value3(i)At the j-th pole position, where the subdivided multiple pairs of pole angle values theta3seg(i)Is composed of
θ3seg(i)＝θ3(i)+ (j-1) × M (wherein M is 65535) (7)
At this time, the subdivided multi-pair polar angle values theta3seg(i)The angle value of (1) is in the range of [0, 65535 x 3 ]]As shown in FIG. 9, the resolution of the angle values is now improved, ranging from the initial angle values [0, 65535]Change to [0, 65535 x 3]；
Step four, according to the single-antipodal angle value theta1Multiple pairs of polar angle values theta2Angle of multiple pairs of poles theta3The mapping relation subdivides the multiple pairs of polar angle values, and the specific process is as follows:
the obtained current calculation period angle value theta2(i)、θ3(i)Add to form θ4(i)；
θ4(i)＝θ2(i)+θ3(i) (8)
When theta is4(i)When > M, theta4(i)＝θ4(i)-M (where M ═ 65535);
single-pole angle value theta1Angle of multiple pairs of poles theta2Angle of multiple pairs of poles theta3Are all in the range of [0, 65535]The angle value of single pair of poles is changed from 0 to 65535 once and the angle value theta of multiple pairs of poles is changed once when the rotating shaft of the motor rotates for a circle2Change 3 times from 0 to 65535 for many pairs of polar angle values theta3Change 3 times from 0 to 65535, change θ2(i)And theta3(i)Add when theta4(i)In the case of one rotation of the motor shaft, theta4(i)Change 5 times from 0 to 65535, as shown in FIG. 10;
according to a single-dipole angle value theta1Angle of multiple pairs of poles theta4Subdividing the multiple pairs of polar angle values according to the multiple pairs of polar angle values theta4The difference value between the front and rear, and the multi-pair polar angle value theta4Zero crossing point position of theta4(i)For the current calculation cycle many pairs of polar angle values, θ4(i-1)For the last calculation cycle a number of pairs of polar angle values, θ4err(i)Calculating a period difference for the front and rear angle values according to theta4err(i)Judging the position of a zero crossing point of a plurality of pairs of polar angle values in the numerical range;
when in use
Figure BDA0002751511900000141
Or
Figure BDA0002751511900000142
When M is 65535, the multi-polar angle value θ is considered4(i)At a zero crossing point position; recording the zero crossing point position i and the corresponding single-pair polar angle value in a table, and storing the table in a memory of a single chip microcomputer, wherein the zero crossing point position i corresponds to the single-pair polar angle value theta4(i)In other words, the motor shaft rotates for a circle and zero-crossing points occur for 5 times, so that single-pole angle values corresponding to 5 zero-crossing points need to be recorded and stored in the memory of the single chip microcomputer, and the current multi-pole angle value theta is judged according to the single-pole angle value recorded data4(i)The multi-pair polar logarithm is obtained by looking up a table according to the single-pair polar angle value4(i)At the p-th pole position, where the subdivided multiple pairs of pole angle values theta4seg(i)Is composed of
θ4seg(i)＝θ4(i)+ (p-1) × M (wherein M is 65535) (9)
At this time, the subdivided multi-pair polar angle values theta4seg(i)The angle value of (1) is in the range of [0, 65535 x 5 ]]As shown in FIG. 11, the resolution of the angle values is now improved, ranging from the initial angle values [0, 65535]Change to [0, 65535 x 5]；
Obtaining the subdivided multi-pair polar angle values theta according to the method in the step2seg、θ3seg、θ4segWherein theta2segThe angle value has the variation range of [0, 65535 x 2 ]]，θ3segThe variation range of the angle value is [0, M n%]，θ4segThe angle value has the variation range of [0, 65535 x 5 ]]；
Step five, outputting the high-reliability angle value, wherein the specific process is as follows:
single antipodal angle value theta1The subdivided multi-pair polar angle values theta2seg、θ3segPerforming equal-scale amplification to obtain angle value of [0, 65535 x 5 ]]The angle value of the single pair of poles after the equal proportion amplification is theta1zIt can be expressed as:
θ1z＝θ1*(m+n)＝θ1*5 (10)
dividing the subdivided multi-pair polar angle values theta2seg、θ3segCarrying out equal-proportion amplification, wherein the angle value of the multiple pairs of poles after the equal-proportion amplification is theta2z、θ3zIt can be expressed as:
Figure BDA0002751511900000151
Figure BDA0002751511900000152
after being amplified in equal proportion, theta1z、θ2z、θ3zAnd theta4segAll the angle values of (1) are [0, M (M + n) ]]At θ, as shown in FIG. 121zBased on the obtained theta1zAnd theta2z、θ3z、θ4segAngle difference of (d):
Δerr2＝θ1z-θ2z (13)
Δerr3＝θ1z-θ3z (14)
Δerr4＝θ1z-θ4seg (15)
after the angle value theta of the single pole pair is amplified in equal proportion1zIn abscissa, respectively, Δ err2、Δerr3、Δerr4Tabulating for the ordinate;
in the actual working process, the single-pole angle value theta of the current calculation period is used1z(i) Respectively inquiring corresponding ordinate compensation values delta err for the basis of table look-up2(i)、Δerr3(i)、Δerr4(i) At this time, the compensated angle value theta2f(i)、θ3f(i)、θ4f(i) Comprises the following steps:
θ2f(i)＝θ2z(i)+Δerr2(i) (16)
θ3f(i)＝θ3z(i)+Δerr3(i) (17)
θ4f(i)＝θ4seg(i)+Δerr4(i) (18)
the four-way angle value theta obtained at this time1z、θ2f、θ3f、θ4fThe trend of the angle value is consistent, as shown in fig. 13, only the actual resolution of the angle value is different, and then theta is measured4fTrue resolution of greater than theta3fTrue resolution of theta3fTrue resolution of greater than theta2fTrue resolution of theta2fTrue resolution of greater than theta1zThe true resolution of (d);
during actual operation, the priority is given to using theta4fAs a motor angle value feedback signal for a servo control system, and then theta3f、θ2fAnd theta1z；
Setting a normal angle deviation range as xi;
when theta4f-θ3f|＜ξ，|θ3f-θ2f|＜ξ，|θ2f-θ1zWhen | is less than xi and satisfied at the same time, theta is used4fOutputting as a final angle value;
when theta4f-θ3f|≥ξ，|θ3f-θ2f|＜ξ，|θ2f-θ1zWhen | is less than xi, theta is considered at the moment4fThe angle value calculation process is failed, and theta is used3fOutputting as a final angle value;
when theta4f-θ3f|≥ξ，|θ3f-θ2f|≥ξ，|θ2f-θ1zWhen | is less than xi, theta is considered at the moment4f、θ3fThe angle value calculation process is failed, and theta is used2fOutputting as a final angle value;
when theta4f-θ3f|≥ξ，|θ3f-θ2f|≥ξ，|θ2f-θ1zWhen | is more than or equal to xi simultaneously, the theta is considered at the moment4f、θ3f、θ2fThe angle value calculation process is failed, and theta is used1zAnd outputting the final angle value.
While there has been shown and described what are at present considered the fundamental principles and essential features of the invention and its advantages, it will be understood by those skilled in the art that the invention is not limited by the embodiments described above, which are given by way of illustration of the principles of the invention and which are within the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (1)

1. A multi-antipode magnetoelectric encoder and a high-resolution high-reliability angle resolving method thereof are composed of six parts, namely a magnetic steel support (1), a single antipode magnetic steel (2), an m antipode magnetic steel (3), an n antipode magnetic steel (4), an encoder support (5) and a Hall encoder (6), wherein the m antipode magnetic steel (3) and the n antipode magnetic steel (4) are respectively glued in a groove of the magnetic steel support (1), the magnetic steel support (1) is glued on a motor rotating shaft (7), the single antipode magnetic steel (2) is glued at the end part (7-1) of the motor rotating shaft for a motor shaft to drive the magnetic steel to rotate to generate a magnetic field signal, the front end of the Hall encoder support (5-1) is in threaded connection with a motor flange (8), the rear end of the encoder support (5-2) is in threaded connection with the Hall encoder (6), and the Hall encoder is resolved by the encoder signal, The device comprises a single-pair Hall a1(2-1), a single-pair Hall a2(2-2), a multi-pair Hall b1(3-1), a multi-pair Hall b2(3-2), a multi-pair Hall c1(4-1) and a multi-pair Hall c2(4-2), wherein the single-pair Hall a1(2-1) and the single-pair Hall a2(2-2) have an included angle of 90 degrees, are welded at positions right above the encoder signal resolving plate (6-1) corresponding to the single-pair magnetic steel (2), the multi-pair Hall b1(3-1) and the multi-pair Hall b2(3-2) have included angles of being welded at positions right above m-pair magnetic steel (3) corresponding to the encoder signal resolving plate (6-1), the multi-pair Hall c1(4-1) and the multi-pair Hall c2(4-2) are welded at positions above n-pair magnetic steel (4) corresponding to the encoder signal resolving plate (6-1), for receiving a magnetic field signal;
the method is characterized in that: the method comprises the following concrete implementation processes:
step one, resolving an angle value:
in particular to a motor rotorThe shaft rotates, the magnetic steel is glued with the rotating shaft of the motor, so that the single-pair magnetic steel, the m-pair magnetic steel and the n-pair magnetic steel synchronously rotate, the single-pair magnetic steel, the m-pair magnetic steel and the n-pair magnetic steel synchronously generate an axial magnetic field, the single-pair Hall a1 and the single-pair Hall a2 are welded with the encoder signal resolving plate in a soldering manner, and the single-pair Hall a1 and the single-pair Hall a2 are perpendicular to each other; the multi-pair hall b1 and the multi-pair hall b2 are welded with the encoder signal resolving plate in a soldering mode, and an included angle theta is formed between the multi-pair hall b1 and the multi-pair hall b22mThe calculation formula is as follows:
Figure FDA0002751511890000011
in the formula, m is the number of magnetized pole pairs of m pairs of pole magnetic steels, and h is a natural number;
the multi-pair hall c1 and the multi-pair hall c2 are welded with the encoder signal resolving plate in a soldering mode, and an included angle theta is formed between the multi-pair hall c1 and the multi-pair hall c23mThe calculation formula is as follows:
Figure FDA0002751511890000021
in the formula, n is the number of magnetized pole pairs of n pairs of pole magnetic steels, and l is a natural number;
at the moment, the single-antipodal magnetic steel rotates, the single-antipodal Hall a1 and the single-antipodal Hall a2 collect single-antipodal angle value signals A & lt + & gt and A & lt- & gt, an encoder signal resolving plate performs analog-to-digital conversion on the angle value analog signals A & lt + & gt and A & lt- & gt to obtain angle value digital signals HA & lt + & gt and HA & lt- & gt, and then the obtained single-antipodal angle value digital signals HA & lt + & gt and HA & lt- & gt are resolved to obtain a single-antipodal1And resolving the formula (3) as shown in the specification:
Figure FDA0002751511890000022
collecting multi-pair polar angle value signals B + and B-by multi-pair polar Hall B1 and multi-pair polar Hall B2, and performing on encoder signal resolving plate by using angle value analog signals B + and B-Analog-to-digital conversion is carried out to obtain angle value digital signals HB + and HB-, and then the obtained multi-pair polar angle value digital signals HB + and HB-are resolved to obtain a multi-pair polar angle value theta2Solving equation (4) is as follows:
Figure FDA0002751511890000023
collecting multi-pair polar angle value signals C + and C-by multi-pair polar Hall C1 and multi-pair polar Hall C2, performing analog-to-digital conversion on the angular value analog signals C + and C-by an encoder signal resolving plate to obtain angular value digital signals HC + and HC-, and resolving the obtained multi-pair polar angle value digital signals HC + and HC-to obtain multi-pair polar angle value theta3The formula (5) is solved as follows:
Figure FDA0002751511890000024
step two, according to the single-antipodal angle value theta1And a plurality of pairs of polar angle values theta2The mapping relation subdivides the multiple pairs of polar angle values, and the specific process is as follows:
single-pole angle value theta1Angle of multiple pairs of poles theta2Angle of multiple pairs of poles theta3Are all in the range of [0, M]The angle value of the single pair of poles is changed from 0 to M once when the rotating shaft of the motor rotates for a circle, and the angle value theta of the multiple pairs of poles is changed once2Change M times from 0 to M, multiple pairs of polar angle values theta3Changing the value from 0 to M n times;
according to a single-dipole angle value theta1Angle of multiple pairs of poles theta2Subdividing the multiple pairs of polar angle values according to the multiple pairs of polar angle values theta2The difference value between the front and rear, and the multi-pair polar angle value theta2Zero crossing point position of theta2(i)For the current calculation cycle many pairs of polar angle values, θ2(i-1)For the last calculation cycle a number of pairs of polar angle values, θ2err(i)Calculating a period difference for the front and rear angle values according to theta2err(i)Judging the position of a zero crossing point of a plurality of pairs of polar angle values in the numerical range;
when in use
Figure FDA0002751511890000031
Or
Figure FDA0002751511890000032
Then, the angle value theta of the multiple pairs of poles is considered2(i)At a zero crossing point position; recording the zero crossing point position i and the corresponding single-pair polar angle value in a table, and storing the table in a memory of a single chip microcomputer, wherein the zero crossing point position i corresponds to the single-pair polar angle value theta2(i)In other words, the motor rotating shaft rotates for a circle, and zero-crossing points occur m times, so that single-pole angle values corresponding to the m zero-crossing points need to be recorded and stored in the memory of the single chip microcomputer, and the current multi-pole angle value theta is judged according to the single-pole angle value recorded data2(i)The multi-pair polar logarithm is obtained by looking up a table according to the single-pair polar angle value2(i)At the k-th pole position, where the subdivided plural pairs of pole angle values theta2seg(i)Is composed of
θ2seg(i)＝θ2(i)+(k-1)*M (6)
At this time, the subdivided multi-pair polar angle values theta2seg(i)The angle value of (1) is in the range of [0, M M × M ]]At this time, the resolution of the angle value is improved, and the range [0, M ] is changed from the initial angle value]Change to [0, M M]；
Step three, according to the single-antipodal angle value theta1And a plurality of pairs of polar angle values theta3The mapping relation subdivides the multiple pairs of polar angle values, and the specific process is as follows:
according to a single-dipole angle value theta1Angle of multiple pairs of poles theta3Subdividing the multiple pairs of polar angle values according to the multiple pairs of polar angle values theta3The difference value between the front and rear, and the multi-pair polar angle value theta3Zero crossing point position of theta3(i)For the current calculation cycle many pairs of polar angle values, θ3(i-1)For the last calculation cycle a number of pairs of polar angle values, θ3err(i)Calculating a period difference for the front and rear angle values according to theta3err(i)Judging the position of a zero crossing point of a plurality of pairs of polar angle values in the numerical range;
when in use
Figure FDA0002751511890000041
Or
Figure FDA0002751511890000042
Then, the angle value theta of the multiple pairs of poles is considered3(i)At a zero crossing point position; recording the zero crossing point position i and the corresponding single-pair polar angle value in a table, and storing the table in a memory of a single chip microcomputer, wherein the zero crossing point position i corresponds to the single-pair polar angle value theta3(i)In other words, the motor rotating shaft rotates for a circle, and n zero-crossing points occur, so that single-pole angle values corresponding to the n zero-crossing points need to be recorded and stored in the memory of the single chip microcomputer, and the current multi-pole angle value theta is judged according to the single-pole angle value recorded data3(i)The multi-pair polar logarithm is obtained by looking up a table according to the single-pair polar angle value3(i)At the j-th pole position, where the subdivided multiple pairs of pole angle values theta3seg(i)Is composed of
θ3seg(i)＝θ3(i)+(j-1)*M (7)
At this time, the subdivided multi-pair polar angle values theta3seg(i)The angle value of (1) is in the range of [0, M n%]At this time, the resolution of the angle value is improved, and the range [0, M ] is changed from the initial angle value]Change to [0, M n]；
Step four, according to the single-antipodal angle value theta1Multiple pairs of polar angle values theta2Angle of multiple pairs of poles theta3The mapping relation subdivides the multiple pairs of polar angle values, and the specific process is as follows:
the obtained current calculation period angle value theta2(i)、θ3(i)Add to form θ4(i)；
θ4(i)＝θ2(i)+θ3(i) (8)
When theta is4(i)When > M, theta4(i)＝θ4(i)-M；
Single-pole angle value theta1Angle of multiple pairs of poles theta2Angle of multiple pairs of poles theta3Are all in the range of [0, M]Angle of single-to-polar rotation of motor shaftOne time change from 0 to M, multiple pairs of polar angle values theta2Change M times from 0 to M, multiple pairs of polar angle values theta3Changing the value from 0 to M n times, and dividing theta2(i)And theta3(i)Add when theta4(i)In the case of one rotation of the motor shaft, theta4(i)Changing the value from 0 to M for M + n times;
according to a single-dipole angle value theta1Angle of multiple pairs of poles theta4Subdividing the multiple pairs of polar angle values according to the multiple pairs of polar angle values theta4The difference value between the front and rear, and the multi-pair polar angle value theta4Zero crossing point position of theta4(i)For the current calculation cycle many pairs of polar angle values, θ4(i-1)For the last calculation cycle a number of pairs of polar angle values, θ4err(i)Calculating a period difference for the front and rear angle values according to theta4err(i)Judging the position of a zero crossing point of a plurality of pairs of polar angle values in the numerical range;
when in use
Figure FDA0002751511890000051
Or
Figure FDA0002751511890000052
Then, the angle value theta of the multiple pairs of poles is considered4(i)At a zero crossing point position; recording the zero crossing point position i and the corresponding single-pair polar angle value in a table, and storing the table in a memory of a single chip microcomputer, wherein the zero crossing point position i corresponds to the single-pair polar angle value theta4(i)In other words, the motor rotating shaft rotates for a circle, and zero-crossing points occur m + n times, so that single-pole angle values corresponding to the m + n zero-crossing points need to be recorded and stored in the memory of the single chip microcomputer, and the current multi-pole angle value theta is judged according to the single-pole angle value recorded data4(i)The multi-pair polar logarithm is obtained by looking up a table according to the single-pair polar angle value4(i)At the p-th pole position, where the subdivided multiple pairs of pole angle values theta4seg(i)Comprises the following steps:
θ4seg(i)＝θ4(i)+(p-1)*M (9)
at this time, the subdivided multi-pair polar angle values theta4seg(i)The angle value of (1) is in the range of [0, M (M + n)]At this time, the resolution of the angle value is improved, and the range [0, M ] is changed from the initial angle value]Change to [0, M (M + n)]；
Obtaining the subdivided multi-pair polar angle values theta according to the method in the step2seg、θ3seg、θ4segWherein theta2segThe variation range of the angle value is [0, M M × ]]，θ3segThe variation range of the angle value is [0, M n%]，θ4segThe variation range of the angle value is [0, M (M + n)]；
Step five, outputting the high-reliability angle value, wherein the specific process is as follows:
single antipodal angle value theta1The subdivided multi-pair polar angle values theta2seg、θ3segPerforming equal-scale amplification to obtain angle value [0, M (M + n)]The angle value of the single pair of poles after the equal proportion amplification is theta1zIt can be expressed as:
θ1z＝θ1*(m+n) (10)
dividing the subdivided multi-pair polar angle values theta2seg、θ3segCarrying out equal-proportion amplification, wherein the angle value of the multiple pairs of poles after the equal-proportion amplification is theta2z、θ3zIt can be expressed as:
Figure FDA0002751511890000061
Figure FDA0002751511890000062
after being amplified in equal proportion, theta1z、θ2z、θ3zAnd theta4segAll the angle values of (1) are [0, M (M + n) ]]At θ1zBased on the obtained theta1zAnd theta2z、θ3z、θ4segAngle difference of (d):
Δerr2＝θ1z-θ2z (13)
Δerr3＝θ1z-θ3z (14)
Δerr4＝θ1z-θ4seg (15)
after the angle value theta of the single pole pair is amplified in equal proportion1zIn abscissa, respectively, Δ err2、Δerr3、Δerr4Tabulating for the ordinate;
in the actual working process, the single-pole angle value theta of the current calculation period is used1z(i) Respectively inquiring corresponding ordinate compensation values delta err for the basis of table look-up2(i)、Δerr3(i)、Δerr4(i) At this time, the compensated angle value theta2f(i)、θ3f(i)、θ4f(i) Comprises the following steps:
θ2f(i)＝θ2z(i)+Δerr2(i) (16)
θ3f(i)＝θ3z(i)+Δerr3(i) (17)
θ4f(i)＝θ4seg(i)+Δerr4(i) (18)
the four-way angle value theta obtained at this time1z、θ2f、θ3f、θ4fThe variation trends of the angle values are consistent, only the actual resolution of the angle values is different, and then theta is measured4fTrue resolution of greater than theta3fTrue resolution of theta3fTrue resolution of greater than theta2fTrue resolution of theta2fTrue resolution of greater than theta1zThe true resolution of (d);
during actual operation, the priority is given to using theta4fAs a motor angle value feedback signal for a servo control system, and then theta3f、θ2fAnd theta1z；
Setting a normal angle deviation range as xi;
when theta4f-θ3f|＜ξ，|θ3f-θ2f|＜ξ，|θ2f-θ1zWhen | is less than xi and satisfied at the same time, theta is used4fOutputting as a final angle value;
when theta4f-θ3f|≥ξ，|θ3f-θ2f|＜ξ，|θ2f-θ1zWhen | is less than xi, theta is considered at the moment4fAngle of rotationValue calculation process is failed using theta3fOutputting as a final angle value;
when theta4f-θ3f|≥ξ，|θ3f-θ2f|≥ξ，|θ2f-θ1zWhen | is less than xi, theta is considered at the moment4f、θ3fThe angle value calculation process is failed, and theta is used2fOutputting as a final angle value;
when theta4f-θ3f|≥ξ，|θ3f-θ2f|≥ξ，|θ2f-θ1zWhen | is more than or equal to xi simultaneously, the theta is considered at the moment4f、θ3f、θ2fThe angle value calculation process is failed, and theta is used1zAnd outputting the final angle value.
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CN115979312A (en) * 2022-11-24 2023-04-18 哈尔滨理工大学 Ant colony algorithm-based magneto-electric encoder angle value jumping point suppression method and device
CN115931014A (en) * 2022-12-12 2023-04-07 哈尔滨理工大学 Double-multi-pair-pole magnetoelectric encoder and absolute angle value resolving method
CN116222371A (en) * 2023-03-01 2023-06-06 哈尔滨理工大学 Magnetic grid type magneto-electric encoder and angle resolving method thereof
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CN117007086A (en) * 2023-09-28 2023-11-07 山西省机电设计研究院有限公司 High-precision magnetoelectric encoder and method for detecting absolute angle of magnetoelectric encoder
CN117007086B (en) * 2023-09-28 2023-12-08 山西省机电设计研究院有限公司 High-precision magnetoelectric encoder and method for detecting absolute angle of magnetoelectric encoder
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