CN103335587B - A kind of position sensor on-line testing method and apparatus - Google Patents

Abstract

The invention discloses a kind of position sensor on-line testing method, the method includes: initialize primary importance side-play amount and second position side-play amount each self-corresponding voltage on characteristic curve, the real-time voltage of position sensor output is sampled, judge within the scope of certain time, whether real-time sampling voltage is maintained within the scope of first threshold, if, then judge in this time range, whether voltage pulsation amplitude is maintained within the scope of Second Threshold, if, then voltage corresponding for primary importance side-play amount in characteristic curve is updated to the real-time sampling average voltage in this time range, with primary importance side-play amount with update after voltage corresponding to primary importance side-play amount and second position side-play amount and corresponding voltage regenerate the characteristic curve of position sensor, to realize verification. the method overcome the shortcoming that prior art can not verify when machine runs. the embodiment of the present application also discloses a kind of position sensor on-line testing device, improves the precision of position sensor.

Description

A method and device for online calibration of a position sensor

technical field

The invention relates to the field of automation, in particular to an online calibration method and device for a position sensor.

Background technique

With the advancement and development of science and technology, position sensors are becoming more and more popular in modern industrial automation production. A position sensor refers to a sensor that can sense the position of the object to be measured and convert the offset of the object's position into a measurement of resistance, capacitance, or induced electromotive force, thereby outputting a signal such as a voltage, such as a throttle position sensor, etc. The characteristic is that the relationship between the position offset measured by the position sensor and the output voltage is a certain characteristic curve, and the measurement of the position offset can be based on angle or displacement according to the specific situation.

However, in practical applications, due to assembly errors or aging problems, some position sensors often make the actual offset of the measured position inconsistent with the theoretical position offset calculated by the output voltage value through the theoretical characteristic curve, that is, the characteristic curve If deviation occurs, if the position offset is calculated according to the original characteristic curve, the accuracy of the sensor will be reduced and the product performance will be affected.

In order to improve the accuracy of the sensor, the existing technology forces the measured position to reach the minimum or maximum deviation after the entire machine is powered on and before the operation starts. The position sensor obtains the minimum or maximum deviation of the measured position and converts the deviation The displacements are converted into corresponding voltage values to update the voltage values corresponding to the two offsets on the characteristic curve, so as to achieve the purpose of calibrating the position sensor. For example, the EGR valve position sensor on the car, that is, the exhaust gas recirculation valve position sensor, performs closed-loop correction and feedback control on the actual exhaust gas recirculation amount by detecting the opening and closing degree of the EGR valve, so that the exhaust gas recirculation amount does not excessively affect the engine performance. influences. When the car is in the starting state but not driving, the control system of the car sends a signal to the actuator to make the actuator force the EGR valve to fully open or fully close, and the EGR position sensor detects that the EGR valve is fully open or fully closed and then switches to the corresponding Voltage signal, and then send the voltage signal to the control system of the car to update the voltage value corresponding to the full opening or closing of the EGR valve on the characteristic curve, so as to calibrate the characteristic curve. But when the car is running, the control system can no longer force the actuator to fully open or close the valve, otherwise it will affect the normal operation of the vehicle. At this time, the characteristic curve of the EGR position sensor may deviate due to aging problems, resulting in large error. In addition, prior art relies on actuator-like forcing devices, however not all position sensors have a forcing device and without a forcing device the position sensor cannot be calibrated.

Contents of the invention

In order to verify the position sensor when the machine is running without relying on mandatory equipment, the present invention provides a method and device for on-line verification of the position sensor to improve the accuracy of the position sensor.

An embodiment of the present invention provides an online calibration method for a position sensor. First, initialize the voltages corresponding to the first position offset and the second position offset on the characteristic curve respectively. The calibration method includes:

Sampling the real-time voltage output by the position sensor, judging whether the real-time sampling voltage remains within the first threshold range within a certain time range, and if so, judging whether the voltage fluctuation range within the time range remains within the second threshold range, if yes , then the voltage corresponding to the first position offset in the characteristic curve is updated to the real-time sampled voltage average value within the time range, and the voltage corresponding to the first position offset and the updated first position offset is compared with the second position The offset and the corresponding voltage regenerate the characteristic curve of the position sensor for calibration purposes.

Preferably, the method also includes:

Judging whether the real-time sampling voltage remains within the third threshold range within a certain time range, if yes, then judging whether the voltage fluctuation range within this period remains within the fourth threshold range, if so, offsetting the second position in the characteristic curve to The voltage corresponding to the displacement is updated as the real-time sampled voltage average value within the time range, and the voltage corresponding to the first position offset and the updated first position offset is compared with the second position offset and the updated second position offset The voltage corresponding to the displacement regenerates the characteristic curve of the position sensor.

Preferably, the first position offset is the minimum position offset, and the second position offset is the maximum position offset.

Preferably, the voltage corresponding to the first position offset on the characteristic curve is set as u ₁ , the voltage corresponding to the second position offset on the characteristic curve is u ₂ , and the first threshold range is [u ₁ - x%|u ₂ -u ₁ |, u ₁ +x%|u ₂ -u ₁ |], the second threshold range is [0, y%|u ₂ -u ₁ |], where x>y, And x,y∈(0,100).

Preferably, the voltage corresponding to the first position offset on the characteristic curve is set as u ₁ , the voltage corresponding to the second position offset on the characteristic curve is u ₂ , and the third threshold range is [u ₂ - x%|u ₂ -u ₁ |, u ₂ +x%|u ₂ -u ₁ |], the fourth threshold range is [0, y%|u ₂ -u ₁ |], where x>y, And x,y∈(0,100).

Preferably, the x∈(0,10], the y∈(0,5].

Preferably, the verification method also includes:

filtering the voltage while sampling the real-time voltage output by the position sensor; or,

After the step of regenerating the characteristic curve of the position sensor, return to the step of sampling the real-time voltage output by the position sensor for a loop.

The present invention also provides an online verification device for a position sensor, which includes: an initialization voltage unit, a real-time voltage sampling unit, a first judging unit, a second judging unit, a first updating unit, and a characteristic curve generating unit, wherein,

The initialization voltage unit is used to initialize the respective voltages corresponding to the first position offset and the second position offset on the characteristic curve;

The real-time voltage sampling unit is used to sample the real-time voltage output by the position sensor;

The first judging unit is used to judge whether the real-time sampling voltage remains within the first threshold range within a certain time range, and if so, activate the second judging unit;

The second judging unit is used to judge whether the fluctuation amplitude of the real-time sampling voltage within the time range is kept within the second threshold range, and if so, activate the first updating unit;

The first update unit is configured to update the voltage corresponding to the first position offset in the characteristic curve to the real-time sampled voltage average value within the time range;

The characteristic curve generating unit is used to regenerate the characteristic curve of the position sensor with the first position offset and the updated voltage corresponding to the first position offset, the second position offset and the corresponding voltage, so as to realize the verification .

Preferably, the characteristic curve generating unit is further configured to use the voltage corresponding to the first position offset and the updated first position offset to the second position offset and the updated second position offset The voltage regenerates the characteristic curve of the position sensor;

The device also includes: a third judging unit, a fourth judging unit, and a second updating unit, wherein,

The third judging unit is used to judge whether the real-time sampling voltage output by the position sensor within a certain time range remains within the third threshold range, and if so, activate the fourth judging unit;

The fourth judging unit is used to judge whether the fluctuation amplitude of the real-time sampling voltage within the time range is kept within the fourth threshold range, and if so, activate the second updating unit;

The second update unit is configured to update the voltage corresponding to the second position offset in the characteristic curve to the real-time sampled voltage average value within the time range.

Preferably, the device further includes a filtering unit, configured to filter the real-time sampling voltage output by the position sensor; or,

The characteristic curve generation unit is also used to activate the real-time voltage sampling unit after regenerating the characteristic curve of the position sensor.

Due to assembly errors or aging problems, the characteristic curves of some position sensors deviate during the operation of the machine, and even the characteristic curves have deviations before the operation, which reduces the accuracy of the sensors. The existing technology forces the measured position to reach the minimum or maximum offset. The position sensor obtains the minimum or maximum offset of the measured position, and converts the offset to output the corresponding voltage value to update the characteristic curve respectively. The voltage value corresponding to the above two offsets can be used to achieve the purpose of calibrating the position sensor, but once the machine is running, the forced device cannot work, the characteristic curve may deviate and cannot be calibrated, and now There are techniques that rely on forcing equipment without which position sensors cannot be calibrated. In the present invention, when the machine is running, it is judged whether the voltage corresponding to the real-time position offset output by the position sensor within a certain time range and the fluctuation range of the voltage remain within the corresponding threshold range, and if so, the voltage mean value within the period Updating the voltage corresponding to the measured position offset on the characteristic curve enables the characteristic curve of the position sensor to be verified online, and overcomes the disadvantage of relying on compulsory equipment in the prior art.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments described in this application. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is a flow chart of a position sensor online verification method according to an embodiment of the present invention;

Fig. 2 is the flow chart of the on-line verification method of the position sensor of the second embodiment of the present invention;

Fig. 3 is a flow chart of an online verification method for three position sensors according to an embodiment of the present invention;

Fig. 4 is a structural block diagram of a position sensor online verification device according to Embodiment 4 of the present invention;

Fig. 5 is a structural block diagram of an on-line calibration device for a position sensor according to Embodiment 5 of the present invention.

detailed description

In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Embodiment one

Due to assembly errors or aging problems, the characteristic curves of some position sensors deviate during the operation of the machine, and even the characteristic curves have deviations before the operation, which reduces the accuracy of the sensors. The present invention provides a method for on-line calibration of a position sensor. The characteristic curve is checked when the machine is running. Referring to FIG. 1, the method comprises the following steps:

Step S101: Initializing the respective voltages corresponding to the first position offset and the second position offset on the characteristic curve;

Step S102: Sampling and filtering the real-time voltage output by the position sensor;

Step S103: judging whether the real-time sampling voltage remains within the first threshold range within a certain time range, if yes, proceed to step S104, otherwise return to step S102;

Step S104: judging whether the real-time sampling voltage fluctuation amplitude within the period of time remains within the second threshold range, if yes, proceed to step S105, otherwise return to step S102;

Step S105: updating the voltage corresponding to the first position offset in the characteristic curve to the real-time sampled voltage average value within the time range;

Step S106: Regenerate the characteristic curve of the position sensor by using the first position offset and the updated voltage corresponding to the first position offset, and the second position offset and the corresponding voltage, so as to realize the verification.

In this embodiment, in order to avoid interference from other signals, it is preferable to filter the real-time sampled voltage in step S102. In addition, in this example, every time the position sensor is calibrated, the voltage corresponding to the first position offset on the characteristic curve and the voltage corresponding to the second position offset on the characteristic curve need to be initialized, but in practical applications, a The position sensor often only needs to be initialized once, and the second and subsequent verifications only need to start from step S102. Moreover, in practical applications, in order to keep the online generated characteristic curve of the position sensor accurate all the time, return to step S102 after step S106, so as to continuously adjust the characteristic curve.

The on-line verification method of the position sensor provided in this embodiment makes the characteristic curve of the position sensor always accurate during the operation of the machine without deviation due to assembly or aging problems, and improves the accuracy of the position sensor. However, in the existing technology, after the machine is powered on and before operation, the position offset of the equipment is forced to reach the minimum or maximum, and the position sensor updates the corresponding output voltage to the corresponding voltage on the original characteristic curve, so as to achieve the purpose of calibration. Since the mandatory equipment cannot perform mandatory actions after the machine is running, it cannot be verified online. The method provided by this embodiment overcomes the disadvantages of the prior art and can be completed without mandatory equipment.

Embodiment two

Embodiment 1 only updates the voltage corresponding to the first position offset. In practical applications, the linear curve generated by updating the voltages corresponding to the two position offsets is more accurate, so this embodiment updates the second position offset Also update, see Figure 2, the specific steps are as follows:

Step S201: Initialize the voltage corresponding to the first position offset on the characteristic curve and the voltage corresponding to the second position offset on the characteristic curve;

Step S202: Sampling and filtering the real-time voltage output by the position sensor;

Step S203: Determine whether the real-time sampling voltage remains within the first threshold range within a certain time range, if yes, proceed to step S204, otherwise return to step S202;

At the same time, it is judged whether the real-time sampling voltage remains within the third threshold range within the time range, if yes, then proceed to step S206, otherwise return to step S202;

Step S204: Judging whether the real-time sampling voltage fluctuation range within the time range remains within the second threshold range, if yes, proceed to step S205, otherwise return to step S202;

Step S205: update the voltage corresponding to the first position offset in the characteristic curve to the real-time sampled voltage average value within the time range, and then proceed to step S208;

Step S206: Judging whether the real-time sampling voltage fluctuation amplitude within the time range remains within the fourth threshold range, if yes, proceed to step S207, otherwise return to step S202;

Step S207: update the voltage corresponding to the second position offset in the characteristic curve to the real-time sampled voltage average value within the time range, and then proceed to step S208;

Step S208: Regenerate the characteristic curve of the position sensor with the first position offset and the voltage corresponding to the updated first position offset and the second position offset and the voltage corresponding to the updated second position offset, and Return to step S202.

After updating the corresponding voltages of the first position offset and the second position offset, a more accurate characteristic curve is obtained. Through the cycle of updating steps, the characteristic curve is always accurate and the accuracy of the position sensor is improved. .

Embodiment Three

In order to further understand the present invention, this embodiment describes the online verification method of the position sensor described in the second embodiment by way of example. Since the present invention does not specifically limit the first position offset and the second position offset of the position sensor, it is preferred that the first position offset is the minimum position offset, that is, relative to the initial position offset 0%, corresponding to the voltage on the original characteristic curve is u' ₁ , the second position offset is the maximum position offset, that is, relative to the initial position offset by 100%, corresponding to the voltage on the original characteristic curve is u' ₂ . The present invention does not specifically limit the first threshold range, the second threshold range, the third threshold range, and the fourth threshold range. In this embodiment, the preferred first threshold range is [u' ₁ -x%|u' ₂ - u' ₁ |, u' ₁ +x%|u' ₂ -u' ₁ |], the second threshold range is [0, y%|u' ₂ -u' ₁ |], and x,y∈( 0,100). , the third threshold range is [u' ₂ -x%|u' ₂ -u' ₁ |, u' ₂ +x%|u' ₂ -u' ₁ |], the fourth threshold range is [0, y% |u' ₂ -u' ₁ |], where x>y, theoretically the range of x and y is (0,100), but in practical applications, the specific values of x and y can be obtained from multiple experiments on the position sensor , in general, x is in the range of (0,10], y is in the range of (0,5]. In this embodiment, preferably x is 5, and y is 2. According to the above description, see Figure 3, this embodiment The steps of the position sensor online calibration method are as follows:

Step S301: initializing the voltage u'1 corresponding to the position offset of 0% on the characteristic curve and the voltage _u'2 corresponding to the position offset of 100% _on the characteristic curve;

Step S302: Sampling and filtering the real-time voltage output by the position sensor;

Step S303: Determine whether the real-time sampling voltage remains within [u' ₁ -5%|u' ₂ -u' ₁ |, u' ₁ +5%|u' ₂ -u' ₁ |] within a certain time range, if If yes, proceed to step S304, otherwise return to step S302;

At the same time, judge whether the real-time sampling voltage remains within [u' ₂ -5%|u' ₂ -u' ₁ |, u' ₂ +5%|u' ₂ -u' ₁ |] within the time range, if yes, Then proceed to step S306, otherwise return to step S302;

Step S304: Judging whether the real-time sampling voltage fluctuation range within the time range remains within [0, 2%|u' ₂ -u' ₁ |], if yes, proceed to step S305, otherwise return to step S302;

Step S305: update the voltage _u'1 corresponding to the position offset of 0% in the characteristic curve to the real-time sampled voltage average value within this time range, and then proceed to step S308;

Step S306: Judging whether the real-time sampling voltage fluctuation amplitude within the time range remains within [0, 2%|u' ₂ -u' ₁ |], if yes, proceed to step S307, otherwise return to step S302;

Step S307: update the voltage _u'2 corresponding to the position offset of 100% in the characteristic curve to the real-time sampled voltage average value within the time range, and then proceed to step S308;

Step S308: regenerate the characteristic curve of the position sensor with the position offset of 0% and the updated voltage corresponding to the position offset of 100% and the updated voltage, and then return to step S302.

Embodiment four

The above-mentioned embodiments are all method embodiments, and corresponding to the method embodiments, the present application also provides an embodiment of an online calibration device for a position sensor. Referring to Fig. 4, the device includes an initialization voltage unit 401, a real-time voltage sampling unit 402, a first judging unit 4031, a second judging unit 4032, a first updating unit 4041, and a characteristic curve generating unit 405, in order to make the real-time sampling voltage not affected by other For signal interference, the position sensor online verification device in this embodiment further includes a filtering unit 406 . Wherein, the initialization voltage unit 401 is connected with the real-time voltage sampling unit 402, the real-time voltage sampling unit 402 is connected with the first judging unit 4031, the first judging unit 4031 is connected with the second judging unit 4032, the second judging unit 4032 is connected with the first updating unit 4041, the first update unit 4041 is connected to the characteristic curve generating unit 405, the characteristic curve generating unit 405 is connected to the real-time voltage sampling unit 402, and the filtering unit 406 is connected to the real-time voltage sampling unit 402 alone. In actual operation, the filtering unit 406 can also be embedded with a real-time voltage sampling unit as a whole.

The working principle of the position sensor online verification device in this embodiment is: the initialization voltage unit 401 initializes the voltage corresponding to the first position offset on the characteristic curve and the voltage corresponding to the second position offset on the characteristic curve; real-time voltage sampling The unit 402 samples the real-time voltage, and the filtering unit 406 filters the voltage while sampling; the first judgment unit 4031 judges whether the real-time sampled voltage remains within the first threshold range within a certain time range, and if so, activates the second judgment unit; the second judging unit 4032 judges whether the fluctuation amplitude of the real-time sampling voltage in this period of time remains within the second threshold range, and if so, activates the first updating unit 4041; the first updating unit 4041 updates the first The voltage corresponding to the position offset is updated as the real-time sampled voltage mean value within the time range; And the corresponding voltage regenerates the characteristic curve of the position sensor, and then activates the real-time voltage sampling unit, so as to generate the characteristic curve repeatedly, so that the characteristic curve is always accurate during the operation of the machine.

The position sensor online verification device provided in this embodiment, by judging whether the voltage corresponding to the real-time position offset output by the position sensor within a certain time range and its fluctuation range is maintained within the respective threshold ranges, if so, then the The average value of the voltage within a period of time updates the voltage corresponding to the measured position offset on the characteristic curve, so that the characteristic curve of the position sensor can be verified online, which overcomes the shortcomings of the existing technology that cannot be verified when the machine is running and relies on mandatory equipment , to improve the accuracy of the position sensor.

Embodiment five

The position sensor online verification device of Embodiment 4 is only used to update the voltage corresponding to one position offset on the characteristic curve, but in practical applications, in order to make the characteristic curve more accurate, it is often necessary to update the corresponding voltage of two position offsets. voltage, so on the basis of Embodiment 4, the position sensor online verification device of this embodiment also includes: a third judging unit 4033, a fourth judging unit 4034 and a second updating unit 4042, see FIG. 5, wherein, the initialization The voltage unit 401 is connected to the real-time voltage sampling unit 402, the real-time voltage sampling unit 402 is connected to the first judging unit 4031 and the third judging unit 4033, the first judging unit 4031 is connected to the second judging unit 4032, and the second judging unit 4032 is connected to the second judging unit 4032. An updating unit 4041 is connected; the third judging unit 4033 is connected to the fourth judging unit 4034, and the fourth judging unit 4034 is connected to the second updating unit 4042; the first updating unit 4041 and the second updating unit 4042 are connected to the characteristic curve generating unit 405 , the characteristic curve generating unit 405 is connected to the real-time voltage sampling unit 402 , and the filtering unit 406 is connected to the real-time voltage sampling unit 402 separately.

The working principle of the position sensor verification device in this embodiment is: the initialization voltage unit 401 initializes the voltage corresponding to the first position offset on the characteristic curve and the voltage corresponding to the second position offset on the characteristic curve; the real-time voltage sampling unit 402 samples the real-time voltage, and the filter unit 406 filters the voltage while sampling; the first judging unit 4031 judges whether the real-time sampled voltage remains within the first threshold range within a certain time range, and if so, activates the second judging unit 4032, the second judging unit 4032 judges whether the voltage fluctuation amplitude remains within the second threshold range within this period of time, and if so, activates the first updating unit 4041, and the first updating unit 4041 updates the first position offset in the characteristic curve The corresponding voltage is updated to the real-time sampled voltage mean value within the time range; at the same time, the third judging unit 4033 judges whether the real-time sampled voltage within the time range remains within the third threshold range, and if so, activates the fourth judging unit 4034, The fourth judging unit 4034 judges whether the real-time voltage fluctuation amplitude within the period of time remains within the fourth threshold range, and if so, activates the second updating unit 4042, and the second updating unit 4042 updates the second position offset in the characteristic curve The corresponding voltage is updated as the real-time sampled voltage average value within the time range; the characteristic curve generation unit 405 uses the first position offset and the voltage corresponding to the updated first position offset and the second position offset and the corresponding voltage to renew Generate the characteristic curve of the position sensor, and then activate the real-time voltage sampling unit, so as to generate the characteristic curve repeatedly, so that the characteristic curve is always accurate during the operation of the machine.

Although the aforementioned embodiment of the position sensor verification device can achieve the purpose of the invention of the present application, in this embodiment, each time a verification is performed, the voltage value corresponding to the opening of the verification position needs to be initialized according to the preset characteristic curve, However, in practical applications, it may only be necessary to initialize the voltage value once. During the working process of the machine, it can be verified at any time according to the filtered real-time sampling voltage and the corresponding position opening. In addition, since the present invention does not specifically limit the verification of several position openings, the specific numerical value of the position openings is also not limited. In order to make the characteristics of the verification more accurate, the minimum and/or maximum value of the position opening is preferably verified. Since they are basically similar to the method embodiments, they will not be described here.

The foregoing is only a specific embodiment of the present invention. It should be pointed out that for those of ordinary skill in the art, some improvements and modifications can also be made without departing from the principle of the present invention. It should be regarded as the protection scope of the present invention.

Claims (10)

1. A position sensor online calibration method, characterized in that, initializing the respective voltages corresponding to the first position offset and the second position offset on the characteristic curve, the calibration method comprising: Sampling the real-time voltage output by the position sensor, judging whether the real-time sampling voltage remains within the first threshold range within a certain time range, and if so, judging whether the voltage fluctuation range within the time range remains within the second threshold range, if yes , then the voltage corresponding to the first position offset in the characteristic curve is updated to the real-time sampled voltage average value within the time range, and the voltage corresponding to the first position offset and the updated first position offset is compared with the second position The offset and the corresponding voltage regenerate the characteristic curve of the position sensor for calibration purposes. 2. The position sensor online verification method according to claim 1, wherein the method further comprises: Judging whether the real-time sampling voltage remains within the third threshold range within a certain time range, and if so, then judging whether the voltage fluctuation range within the time range remains within the fourth threshold range, and if so, offsetting the second position in the characteristic curve to The voltage corresponding to the displacement is updated as the real-time sampled voltage average value within the time range, and the voltage corresponding to the first position offset and the updated first position offset is compared with the second position offset and the updated second position offset The voltage corresponding to the displacement regenerates the characteristic curve of the position sensor. 3 . The online verification method of a position sensor according to claim 2 , wherein the first position offset is a minimum position offset, and the second position offset is a maximum position offset. 4 . 4. The online verification method of a position sensor according to claim 1, wherein the voltage corresponding to the first position offset on the characteristic curve is set as u ₁ , and the second position offset corresponds to u on the characteristic curve. The voltage is u ₂ , the first threshold range is [u ₁ -x%|u ₂ -u ₁ |, u ₁ +x%|u ₂ -u ₁ |], and the second threshold range is [0 , y%|u ₂ -u ₁ |], where x>y, and x,y∈(0,100). 5. The online verification method of a position sensor according to claim 2, wherein the voltage corresponding to the first position offset on the characteristic curve is set as u ₁ , and the second position offset corresponds to u on the characteristic curve. The voltage is u ₂ , the third threshold range is [u ₂ -x%|u ₂ -u ₁ |, u ₂ +x%|u ₂ -u ₁ |], and the fourth threshold range is [0 , y%|u ₂ -u ₁ |], where x>y, and x,y∈(0,100). 6. The online verification method of a position sensor according to claim 4 or 5, characterized in that, said x∈(0,10], said y∈(0,5]. 7. The position sensor online verification method according to claim 1 or 2, wherein the verification method further comprises: filtering the voltage while sampling the real-time voltage output by the position sensor; or, After the step of regenerating the characteristic curve of the position sensor, return to the step of sampling the real-time voltage output by the position sensor in a loop. 8. An online verification device for a position sensor, characterized in that the device comprises: an initialization voltage unit, a real-time voltage sampling unit, a first judging unit, a second judging unit, a first updating unit and a characteristic curve generating unit, wherein , The initialization voltage unit is used to initialize the respective voltages corresponding to the first position offset and the second position offset on the characteristic curve; The real-time voltage sampling unit is used to sample the real-time voltage output by the position sensor; The first judging unit is used to judge whether the real-time sampling voltage remains within the first threshold range within a certain time range, and if so, activate the second judging unit; The second judging unit is used to judge whether the fluctuation amplitude of the real-time sampling voltage within the time range is kept within the second threshold range, and if so, activate the first updating unit; The first update unit is configured to update the voltage corresponding to the first position offset in the characteristic curve to the real-time sampled voltage average value within the time range; The characteristic curve generating unit is used to regenerate the characteristic curve of the position sensor with the first position offset and the updated voltage corresponding to the first position offset, the second position offset and the corresponding voltage, so as to realize the verification . 9. The position sensor online verification device according to claim 8, wherein the characteristic curve generating unit is further configured to use the voltage corresponding to the first position offset and the updated first position offset and The second position offset and the updated voltage corresponding to the second position offset regenerate the characteristic curve of the position sensor; The device further includes: a third judging unit, a fourth judging unit, and a second updating unit, wherein, The third judging unit is used to judge whether the real-time sampling voltage output by the position sensor within a certain time range remains within the third threshold range, and if so, activate the fourth judging unit; The fourth judging unit is used to judge whether the fluctuation amplitude of the real-time sampling voltage within the time range is kept within the fourth threshold range, and if so, activate the second updating unit; The second update unit is configured to update the voltage corresponding to the second position offset in the characteristic curve to the real-time sampled voltage average value within the time range. 10. The position sensor online verification device according to claim 8 or 9, wherein the device further comprises a filter unit for filtering the real-time sampling voltage output by the position sensor; or, The characteristic curve generating unit is also used to activate the real-time voltage sampling unit after regenerating the characteristic curve of the position sensor.