CN107607037B - Magnetoelectric encoder calibration method based on arc tangent trans-interval tabulation method - Google Patents
Magnetoelectric encoder calibration method based on arc tangent trans-interval tabulation method Download PDFInfo
- Publication number
- CN107607037B CN107607037B CN201710838855.5A CN201710838855A CN107607037B CN 107607037 B CN107607037 B CN 107607037B CN 201710838855 A CN201710838855 A CN 201710838855A CN 107607037 B CN107607037 B CN 107607037B
- Authority
- CN
- China
- Prior art keywords
- angle
- measured
- theta
- value
- magnetoelectric
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Transmission And Conversion Of Sensor Element Output (AREA)
Abstract
The invention discloses a magnetoelectric encoder calibration method based on an arc tangent trans-regional tabulation method, which relates to the field of magnetoelectric encoder manufacturing, firstly, the signal is collected by the magnetoelectric encoder, then the measurement angle of the magnetoelectric encoder is calculated by utilizing a partitioned arc tangent table look-up algorithm, by dividing 360 degrees of the whole circumference into 8 subintervals of 45 degrees, the problem that when the arctangent value has positive and negative infinity, the calculation difficulty is high and calculation errors are easy to generate is solved, finally, the measurement angle obtained by the arctangent method is calibrated and corrected based on a span-interval average tabulating method by taking the measurement value of a 16-bit precision photoelectric encoder as a reference, the errors are eliminated by a span-interval linear interpolation method, the method can solve the problems that positive and negative infinite values exist in the traditional anti-tangential method and the measurement precision is reduced due to mechanical errors existing in the positions of the magnetic steels, and carries out angle calibration on the magnetoelectric encoder.
Description
The technical field is as follows:
the invention relates to a magnetoelectric encoder calibration method based on an arc tangent trans-interval tabulation method, and belongs to the technical field of magnetoelectric encoder manufacturing.
Background art:
the encoder is used for measuring angles, is a core element for realizing motor control, is widely applied to the high-tech fields of mechanical engineering, robots, aviation, precise optical instruments and the like, and plays a vital role in modern industry. Wherein magneto-electricity encoder's interference immunity is strong, and is strong to the adaptability of adverse circumstances such as dust and rain fog, the code disk can be by repeated recording and erase, and the cost of manufacturing is lower for photoelectric encoder, is fit for small batch production, and industrial environment is increasing to magneto-electricity encoder's demand at present.
The precision of magnetoelectric encoder is less than photoelectric encoder, utilizes photoelectric encoder to mark it often, through compensating the deviation value of synchronous output between the two in order to improve magnetoelectric encoder's measurement accuracy. The arctangent algorithm is a main angle calculation method of a magnetoelectric encoder, and the method utilizes a Hall element to sample a magnetic field signal, then carries out subsequent signal calculation processing, and obtains a current angle value.
However, the traditional arctangent algorithm has a high calculation difficulty when the arctangent value is positive infinity and negative infinity, and easily causes calculation errors, and the installation of hall elements inevitably has mechanical installation deviation, and the magnetic steel magnetizing process has deviation, the magnetic field signal generated by the magnetic steel is not an ideal sine waveform, and the magnetic sensitivity characteristics of each hall element are different, which can cause the deviation of the collected magnetoelectric signal, in addition, the magnetoelectric signal needs to be converted into digital quantity through analog-to-digital conversion, noise can be introduced in the process to cause angle calculation errors, and the above errors can cause the angle measurement accuracy of the magnetoelectric encoder to be reduced.
The invention content is as follows:
in order to solve the above problems, the present invention provides a magnetoelectric encoder calibration method based on an arctangent cross-region tabulation method, which calculates the angle of the magnetoelectric encoder through a partition arctangent table look-up algorithm, and corrects the angle calibration based on a cross-region average tabulation method to improve the calculation stability and the measurement accuracy of the magnetoelectric encoder.
The above purpose is mainly achieved through the following scheme:
the invention discloses a magnetoelectric encoder calibration method based on an arc tangent trans-interval tabulation method, which is characterized by comprising the following steps of: the method comprises the following concrete implementation processes:
the method comprises the following steps: acquisition of magnetoelectric signals
The magnetoelectric encoder adopts surface-mounted single-antipode magnetic steel as a signal generating element, the single-antipode magnetic steel is adhered to the end surface of a motor rotating shaft, when the rotating shaft rotates, the single-antipode magnetic steel rotates along with the rotating shaft and generates a sinusoidal magnetic field, and four Hall elements A+、A-、B+B-are uniformly distributed on a Hall plate at intervals of 90 degrees, the Hall plate is installed on a motor end cover, uniformly distributed axes of Hall elements are collinear with the axis of a rotating shaft, the Hall elements are arranged facing to the magnetic steel, magnetoelectric analog signals are collected by utilizing the Hall elements, and d-q axis magnetoelectric signals are calculated by 4 paths of Hall signals through difference and analog-to-digital conversion;
taking into account the non-linearity of the magnetic field, Hall element A+Collected magnetoelectric signal vA+ contains a dc offset and a harmonic, and is represented by formula (1):
wherein theta is a measurement angle of the angle of measurement,
is a DC offset, Δ c1Magnetoelectric signals induced in A-Hall elements for higher harmonics
Can be represented by the formula (2):
in the same way, B+B-the signals collected are respectively
A is to be+、A-、B+And the magnetoelectric signals acquired by B-Hall acquisition are subtracted in the radial direction to obtain d-q axis magnetoelectric signals, as shown in formula (3):
step two: computing magnetoelectric encoder angle by utilizing inter-partition arc tangent table look-up algorithm
The angle of the magnetoelectric encoder is calculated by using an arc tangent formula as shown in (4):
dividing the whole circumference into 8 intervals, wherein the angle range of each interval is between 0 and 45 degrees, the arc tangent value is between 0 and 1, the error of the calculation result caused by the positive infinity and the negative infinity of the arc tangent value in the calculation process can be avoided, the angle interval is judged by comparing the positive and negative of the d-q axis Hall signal and the absolute value thereof, and the relative angle theta of the angle to be measured in the interval is calculated by using a corresponding arc tangent formula0', when theta0' if not in the interval range of 0 DEG to 45 DEG, conversion to the next cycle by addition and subtraction is requiredIn the range of 0 DEG to 45 DEG, as shown in formula (5), i.e.
θ0＝θ0' + -. nT, wherein T is 45 degrees, n is integer (5)
When the arctan formula used is arctan (d)h/qh) The relative angle is added to the lower angle limit theta of the sectionlThe actual angle theta of the angle to be measured can be obtainedTAs shown in formula (6);
θT＝θ0+θl(6)
when the arctan formula used is arctan (q)h/dh) The upper limit theta of the angle of the sectionhSubtracting the relative angle to obtain the actual angle theta of the angle to be measuredTAs shown in formula (7);
θT＝θh-θ0(7)
if the d-axis signal is positive, the q-axis signal is negative, and | d is satisfiedh|＜|qhWhen the angle to be measured is within 0-45 degrees, the relative angle theta of the angle to be measured in the interval0' may be composed of arctan (d)h/qh) Obtaining the lower angle limit theta of the section l0 °, the actual angle θ of the angle to be measuredT＝θ0+0°；
When the d-axis signal is positive, the q-axis signal is positive, and | d is not satisfiedh|＜|qhWhen the angle to be measured is within 45-90 degrees, the relative angle theta of the angle to be measured in the interval0' may be composed of arctan (q)h/dh) Obtaining the upper angle limit theta of the sectionh90 °, the actual angle θ of the angle to be measuredT＝90°-θ0；
When the d-axis signal is positive, the q-axis signal is negative, and | d is not satisfiedh|＜|qhWhen the angle to be measured is within 90-135 degrees, the relative angle theta of the angle to be measured in the interval0' may be composed of arctan (q)h/dh) Obtaining the upper angle limit theta of the sectionh135 °, the actual angle θ of the angle to be measuredT＝135°-θ0；
When the d-axis signal is positive, the q-axis signal isIs negative, and satisfies | dh|＜|qhIn the process of |, the angle to be measured is between 135 and 180 degrees, and the relative angle theta of the angle to be measured in the interval0' may be composed of arctan (d)h/qh) Obtaining the lower angle limit theta of the sectionl135 °, the actual angle θ of the angle to be measuredT＝θ0+135°；
When the d-axis signal is negative, the q-axis signal is negative and satisfies | dh|＜|qhIn the range of |, the angle to be measured is 180-225 degrees, and the relative angle theta of the angle to be measured in the range0' may be composed of arctan (d)h/qh) Obtaining the lower angle limit theta of the sectionl180 °, the actual angle θ of the angle to be measuredT＝θ0+180°；
When the d-axis signal is negative, the q-axis signal is negative, and | d is not satisfiedh|＜|qhWhen the angle to be measured is within 225-270 degrees, the relative angle theta of the angle to be measured in the interval0' may be composed of arctan (q)h/dh) Obtaining the upper angle limit theta of the section h270 °, the actual angle θ of the angle to be measuredT＝270°-θ0；
When the d-axis signal is positive, the q-axis signal is negative, and | d is not satisfiedh|＜|qhWhen the angle to be measured is 270-315 degrees, the relative angle theta of the angle to be measured in the interval0' may be composed of arctan (q)h/dh) Obtaining the upper angle limit theta of the section h315 °, the actual angle θ of the angle to be measuredT＝315°-θ0；
When the d-axis signal is positive, the q-axis signal is negative, and | d is satisfiedh|＜|qhWhen the angle to be measured is within 315-360 degrees, the relative angle theta of the angle to be measured in the interval0' may be composed of arctan (d)h/qh) Obtaining the lower angle limit theta of the sectionl180 °, the actual angle θ of the angle to be measuredT＝θ0+315°；
Step three: angle calibration correction based on cross-region average tabulation method
The angle obtained through the arc tangent algorithm has angle deviation, the calculated angle value is subjected to angle calibration, the measured value of the photoelectric encoder with 16-bit precision (0-65535) representing 0-360 degrees is taken as a reference, and the calculated measured value of the magnetoelectric encoder is corrected;
the magnetoelectric encoder, the motor and the photoelectric encoder are coaxially mounted on the calibration turntable, the motor is driven to rotate, the angle values measured by the magnetoelectric encoder and the photoelectric encoder are synchronously output to obtain the angle deviation value of the magnetoelectric encoder and the photoelectric encoder, the output deviation value is processed in a cross-interval linear interpolation mode, and if the collection point M is a collection point MjWhen the corresponding deviation value is processed, M is firstly processedjFour adjacent acquisition points M on left sidej-1，Mj-2，Mj-3，Mj-4Calculating deviation mean value theta according to the deviation valuep1Then to MjFour acquisition points M adjacent to the rightj+1，Mj+2，Mj+3，Mj+4Calculating the error mean value theta of the corresponding deviation valuep2Using thetap1，θp2Linearly interpolating an angular error value theta of a target pointp0As shown in formula (8), all interpolation results are used as compensation values between the magnetoelectric encoder and the photoelectric encoder to prepare an angle compensation table, and the compensation values in the angle compensation table are searched and used as angle compensation values to correct the output result of the magnetoelectric encoder so as to improve the measurement accuracy of the magnetoelectric encoder;
the angle of the magnetoelectric encoder obtained by utilizing the inverse tangent calculation corresponds to 16-bit integer data, because the high 10-bit value is stable and the low 6-bit value fluctuates, the angle compensation table only comprises the deviation value corresponding to the acquisition point by using the high 10-bit value k (0-1023) of the angle value, the low 6-bit value b (0-63) is obtained by local subdivision, namely the high 10-bit value of the angle value is used for looking up the table to obtain an error correction value C (k), the low 6-bit value b (0-63) is used for carrying out average processing on the error correction value checked at the same high 10-bit position, the obtained average results are sequentially accumulated and then distributed to the integral data which corresponds to the 16-bit angle, and the obtained average results are sequentially accumulatedGiving corresponding low 6-bit numerical value, at this time, looking up table and subdivided angle error final correction value C of magnetoelectric encoderF(k) Can be written as formula (9):
the final magnetoelectric encoder angle measurement value thetaFThe actual angle theta of the angle to be measured is calculated by utilizing an inter-partition arc tangent table look-up algorithmTAnd obtaining final angle error correction value C based on cross-region average tabulation methodF(k) Is represented by formula (10):
θF＝θT+CF(k) (10)。
the invention has the beneficial effects that:
1. the partitioned arc tangent table look-up algorithm is provided, the problems that in the traditional arc tangent algorithm, the calculation difficulty is high when the arc tangent value is positive infinity and negative infinity, and calculation errors are easily caused are solved, and the stability of the arc tangent calculation is improved.
2. A cross-region average tabulation method is provided, an angle compensation value is optimized to be a smooth curve, introduction of system noise in the angle compensation process is avoided, adverse effects of noise of a magnetoelectric encoder and a photoelectric encoder on the compensation value in an angle compensation table are eliminated, angle jitter of the magnetoelectric encoder is avoided, and measurement accuracy of the magnetoelectric encoder is improved.
3. The angle compensation is carried out by adopting a mode of searching the angle compensation table, so that the calculation time of a control system is reduced, and the response speed of the encoder is improved.
Description of the 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 view of a calibration process obtained by the method of the present invention;
FIG. 2 is a schematic diagram of the calculation interval division of the inter-partition arc tangent table lookup algorithm according to the present invention;
FIG. 3 is an angle difference diagram of a magnetoelectric angle encoder and a photoelectric encoder without angle calibration correction by a cross-interval average tabulation method in the present invention;
FIG. 4 is a first differential value diagram of the angle difference between the magneto-electric angle encoder and the photoelectric encoder without angle calibration correction by the cross-interval average tabulation method in the present invention;
FIG. 5 is an angle difference diagram of a magnetoelectric angle encoder and a photoelectric encoder with angle calibration correction by a cross-interval average tabulation method in the present invention;
fig. 6 is a first differential value diagram of the angle difference between the magnetoelectric angle encoder and the photoelectric encoder, which is corrected by the cross-interval average tabulation method in the present invention.
The specific implementation mode is as follows:
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.
As shown in fig. 1, fig. 2, fig. 3, and fig. 4, the following technical solutions are adopted in the present embodiment: a magnetoelectric encoder calibration method based on an arc tangent span interval tabulation method is characterized in that: the method comprises the following concrete implementation processes:
the method comprises the following steps: acquisition of magnetoelectric signals
The magnetoelectric encoder adopts surface-mounted single-antipode magnetic steel as a signal generating element, the single-antipode magnetic steel is adhered to the end surface of a motor rotating shaft, when the rotating shaft rotates, the single-antipode magnetic steel rotates along with the rotating shaft and generates a sinusoidal magnetic field, and four Hall elements A+、A-、B+B-are uniformly distributed on a Hall plate at intervals of 90 degrees, the Hall plate is installed on a motor end cover, uniformly distributed axes of Hall elements are collinear with the axis of a rotating shaft, the Hall elements are arranged facing to the magnetic steel, magnetoelectric analog signals are collected by utilizing the Hall elements, and d-q axis magnetoelectric signals are calculated by 4 paths of Hall signals through difference and analog-to-digital conversion;
taking into account the non-linearity of the magnetic field, Hall cellsPart A+Collected magnetoelectric signal
Contains a DC offset and a higher harmonic, and can be represented by formula (1):
wherein theta is a measurement angle of the angle of measurement,
is a DC offset, Δ c1Magnetoelectric signals induced in A-Hall elements for higher harmonics
Can be represented by the formula (2):
in the same way, B+B-the signals collected are respectively
A is to be+、A-、B+And the magnetoelectric signals acquired by B-Hall acquisition are subtracted in the radial direction to obtain d-q axis magnetoelectric signals, as shown in formula (3):
step two: computing magnetoelectric encoder angle by utilizing inter-partition arc tangent table look-up algorithm
The angle of the magnetoelectric encoder is calculated by using an arc tangent formula as shown in (4):
the whole circumference is divided into 8 intervals, and the angle range of each interval is between 0 DEG and 45 DEGThe arctangent value is between 0 and 1, the situation that the calculation result is wrong due to the fact that the arctangent value is positive infinity and negative infinity in the calculation process can be avoided, the angle interval is judged by comparing the positive value and the negative value of the d-q axis Hall signal and the absolute value of the positive value and the negative value, the relative angle theta of the angle to be measured in the angle interval is calculated by using a corresponding arctangent formula0', when theta0When the angle is not in the interval range of 0-45 degrees, the angle needs to be changed into the interval range of 0-45 degrees through an addition and subtraction period, as shown in formula (5), namely
θ0＝θ0' + -. nT, wherein T is 45 degrees, n is integer (5)
When the arctan formula used is arctan (d)h/qh) The relative angle is added to the lower angle limit theta of the sectionlThe actual angle theta of the angle to be measured can be obtainedTAs shown in formula (6);
θT＝θ0+θl(6)
when the arctan formula used is arctan (q)h/dh) The upper limit theta of the angle of the sectionhSubtracting the relative angle to obtain the actual angle theta of the angle to be measuredTAs shown in formula (7);
θT＝θh-θ0(7)
if the d-axis signal is positive, the q-axis signal is negative, and | d is satisfiedh|＜|qhWhen the angle to be measured is within 0-45 degrees, the relative angle theta of the angle to be measured in the interval0' may be composed of arctan (d)h/qh) Obtaining the lower angle limit theta of the section l0 °, the actual angle θ of the angle to be measuredT＝θ0+0°；
When the d-axis signal is positive, the q-axis signal is positive, and | d is not satisfiedh|＜|qhWhen the angle to be measured is within 45-90 degrees, the relative angle theta of the angle to be measured in the interval0' may be composed of arctan (q)h/dh) Obtaining the upper angle limit theta of the sectionh90 °, the actual angle θ of the angle to be measuredT＝90°-θ0；
When the d axisThe signal is positive, the q-axis signal is negative, and | d is not satisfiedh|＜|qhWhen the angle to be measured is within 90-135 degrees, the relative angle theta of the angle to be measured in the interval0' may be composed of arctan (q)h/dh) Obtaining the upper angle limit theta of the sectionh135 °, the actual angle θ of the angle to be measuredT＝135°-θ0；
When the d-axis signal is positive, the q-axis signal is negative, and | d is satisfiedh|＜|qhIn the process of |, the angle to be measured is between 135 and 180 degrees, and the relative angle theta of the angle to be measured in the interval0' may be composed of arctan (d)h/qh) Obtaining the lower angle limit theta of the sectionl135 °, the actual angle θ of the angle to be measuredT＝θ0+135°；
When the d-axis signal is negative, the q-axis signal is negative and satisfies | dh|＜|qhIn the range of |, the angle to be measured is 180-225 degrees, and the relative angle theta of the angle to be measured in the range0' may be composed of arctan (d)h/qh) Obtaining the lower angle limit theta of the sectionl180 °, the actual angle θ of the angle to be measuredT＝θ0+180°；
When the d-axis signal is negative, the q-axis signal is negative, and | d is not satisfiedh|＜|qhWhen the angle to be measured is within 225-270 degrees, the relative angle theta of the angle to be measured in the interval0' may be composed of arctan (q)h/dh) Obtaining the upper angle limit theta of the section h270 °, the actual angle θ of the angle to be measuredT＝270°-θ0；
When the d-axis signal is positive, the q-axis signal is negative, and | d is not satisfiedh|＜|qhWhen the angle to be measured is 270-315 degrees, the relative angle theta of the angle to be measured in the interval0' may be composed of arctan (q)h/dh) Obtaining the upper angle limit theta of the section h315 °, the actual angle θ of the angle to be measuredT＝315°-θ0；
When the d-axis signal is positive, the q-axis signal is negative, and | d is satisfiedh|＜|qhIn the case of l, the number of the terminal,the angle to be measured is 315-360 degrees, and the relative angle theta of the angle to be measured in the interval0' may be composed of arctan (d)h/qh) Obtaining the lower angle limit theta of the sectionl180 °, the actual angle θ of the angle to be measuredT＝θ0+315°；
Step three: angle calibration correction based on cross-region average tabulation method
The angle obtained through the arc tangent algorithm has angle deviation, the calculated angle value is subjected to angle calibration, the measured value of the photoelectric encoder with 16-bit precision (0-65535) representing 0-360 degrees is taken as a reference, and the calculated measured value of the magnetoelectric encoder is corrected;
the magnetoelectric encoder, the motor and the photoelectric encoder are coaxially mounted on the calibration turntable, the motor is driven to rotate, the angle values measured by the magnetoelectric encoder and the photoelectric encoder are synchronously output to obtain the angle deviation value of the magnetoelectric encoder and the photoelectric encoder, the output deviation value is processed in a cross-interval linear interpolation mode, and if the collection point M is a collection point MjWhen the corresponding deviation value is processed, M is firstly processedjFour adjacent acquisition points M on left sidej-1，Mj-2，Mj-3，Mj-4Calculating deviation mean value theta according to the deviation valuep1Then to MjFour acquisition points M adjacent to the rightj+1，Mj+2，Mj+3，Mj+4Calculating the error mean value theta of the corresponding deviation valuep2Using thetap1，θp2Linearly interpolating an angular error value theta of a target pointp0As shown in formula (8), all interpolation results are used as compensation values between the magnetoelectric encoder and the photoelectric encoder to prepare an angle compensation table, and the compensation values in the angle compensation table are searched and used as angle compensation values to correct the output result of the magnetoelectric encoder so as to improve the measurement accuracy of the magnetoelectric encoder;
the angle of the magnetoelectric encoder obtained by utilizing the arctangent calculation corresponds to 16-bit integer data, and the height is 1The 0-bit value is stable and the lower 6-bit value fluctuates, therefore, the angle compensation table only comprises the deviation value corresponding to the acquisition point by taking the upper 10-bit value k (0-1023) of the angle value as the acquisition point, the lower 6-bit value b (0-63) is obtained by local subdivision, namely the error correction value C (k) is obtained by looking up the table by using the upper 10-bit value of the angle value, the same error correction value obtained under the upper 10-bit is averaged by using the lower 6-bit value b (0-63), the obtained average result is sequentially accumulated and distributed to the corresponding lower 6-bit value, and at the moment, the final correction value C of the angle error of the magnetoelectric encoder after looking up the table and subdivision is distributedF(k) Can be written as formula (9):
the final magnetoelectric encoder angle measurement value thetaFThe actual angle theta of the angle to be measured is calculated by utilizing an inter-partition arc tangent table look-up algorithmTAnd obtaining final angle error correction value C based on cross-region average tabulation methodF(k) Is represented by formula (10):
θF＝θT+CF(k) (10)。
the foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (1)
1. A magnetoelectric encoder calibration method based on an arc tangent span interval tabulation method is characterized in that: the method comprises the following concrete implementation processes:
the method comprises the following steps: acquisition of magnetoelectric signals
The magnetoelectric encoder adopts surface-mounted single-pole magnetic steel as a signal generating element and single-pole magnetic steelThe magnetic steel is adhered to the end face of the motor rotating shaft, when the rotating shaft rotates, the single-antipode magnetic steel rotates along with the rotating shaft and generates a sinusoidal magnetic field, and the four Hall elements A+、A-、B+B-are uniformly distributed on a Hall plate at intervals of 90 degrees, the Hall plate is installed on a motor end cover, uniformly distributed axes of Hall elements are collinear with the axis of a rotating shaft, the Hall elements are arranged facing to the magnetic steel, magnetoelectric analog signals are collected by utilizing the Hall elements, and d-q axis magnetoelectric signals are calculated by 4 paths of Hall signals through difference and analog-to-digital conversion;
taking into account the non-linearity of the magnetic field, Hall element A+Collected magnetoelectric signal
Contains a DC offset and a higher harmonic, and can be represented by formula (1):
wherein theta is a measurement angle of the angle of measurement,
is a DC offset, Δ c1Magnetoelectric signals induced in A-Hall elements for higher harmonics
Can be represented by the formula (2):
in the same way, B+B-the signals collected are respectively
A is to be+、A-、B+And the magnetoelectric signals acquired by B-Hall acquisition are subtracted in the radial direction to obtain d-q axis magnetoelectric signals, as shown in formula (3):
step two: computing magnetoelectric encoder angle by utilizing inter-partition arc tangent table look-up algorithm
The angle of the magnetoelectric encoder is calculated by using an arc tangent formula as shown in (4):
dividing the whole circumference into 8 intervals, wherein the angle range of each interval is between 0 and 45 degrees, the arc tangent value is between 0 and 1, the error of the calculation result caused by the positive infinity and the negative infinity of the arc tangent value in the calculation process can be avoided, the angle interval is judged by comparing the positive and negative of the d-q axis Hall signal and the absolute value thereof, and the relative angle theta of the angle to be measured in the interval is calculated by using a corresponding arc tangent formula0', when theta0When the angle is not in the interval range of 0-45 degrees, the angle needs to be changed into the interval range of 0-45 degrees through an addition and subtraction period, as shown in formula (5), namely
θ0＝θ0' + -. nT, wherein T is 45 degrees, n is integer (5)
When the arctan formula used is arctan (d)h/qh) The relative angle is added to the lower angle limit theta of the sectionlThe actual angle theta of the angle to be measured can be obtainedTAs shown in formula (6);
θT＝θ0+θl(6)
when the arctan formula used is arctan (q)h/dh) The upper limit theta of the angle of the sectionhSubtracting the relative angle to obtain the actual angle theta of the angle to be measuredTAs shown in formula (7);
θT＝θh-θ0(7)
if the d-axis signal is positive, the q-axis signal is negative, and | d is satisfiedh|＜|qhWhen the angle to be measured is within 0-45 degrees, the relative angle theta of the angle to be measured in the interval0' may be composed of arctan (d)h/qh) Obtaining the lower angle limit theta of the sectionl0 °, the actual angle θ of the angle to be measuredT＝θ0+0°；
When the d-axis signal is positive, the q-axis signal is positive, and | d is not satisfiedh|＜|qhWhen the angle to be measured is within 45-90 degrees, the relative angle theta of the angle to be measured in the interval0' may be composed of arctan (q)h/dh) Obtaining the upper angle limit theta of the sectionh90 °, the actual angle θ of the angle to be measuredT＝90°-θ0；
When the d-axis signal is positive, the q-axis signal is negative, and | d is not satisfiedh|＜|qhWhen the angle to be measured is within 90-135 degrees, the relative angle theta of the angle to be measured in the interval0' may be composed of arctan (q)h/dh) Obtaining the upper angle limit theta of the sectionh135 °, the actual angle θ of the angle to be measuredT＝135°-θ0；
When the d-axis signal is positive, the q-axis signal is negative, and | d is satisfiedh|＜|qhIn the process of |, the angle to be measured is between 135 and 180 degrees, and the relative angle theta of the angle to be measured in the interval0' may be composed of arctan (d)h/qh) Obtaining the lower angle limit theta of the sectionl135 °, the actual angle θ of the angle to be measuredT＝θ0+135°；
When the d-axis signal is negative, the q-axis signal is negative and satisfies | dh|＜|qhIn the range of |, the angle to be measured is 180-225 degrees, and the relative angle theta of the angle to be measured in the range0' may be composed of arctan (d)h/qh) Obtaining the lower angle limit theta of the sectionl180 °, the actual angle θ of the angle to be measuredT＝θ0+180°；
When the d-axis signal is negative, the q-axis signal is negative, and | d is not satisfiedh|＜|qhWhen the angle to be measured is within 225-270 degrees, the relative angle theta of the angle to be measured in the interval0' may be composed of arctan (q)h/dh) Obtaining the upper angle limit theta of the sectionh270 °, the actual angle θ of the angle to be measuredT＝270°-θ0；
When the d-axis signal is positive, the q-axis signal is negative, and | d is not satisfiedh|＜|qhWhen the angle to be measured is 270-315 degrees, the relative angle theta of the angle to be measured in the interval0' may be composed of arctan (q)h/dh) Obtaining the upper angle limit theta of the sectionh315 °, the actual angle θ of the angle to be measuredT＝315°-θ0；
When the d-axis signal is positive, the q-axis signal is negative, and | d is satisfiedh|＜|qhWhen the angle to be measured is within 315-360 degrees, the relative angle theta of the angle to be measured in the interval0' may be composed of arctan (d)h/qh) Obtaining the lower angle limit theta of the sectionl180 °, the actual angle θ of the angle to be measuredT＝θ0+315°；
Step three: angle calibration correction based on cross-region average tabulation method
The angle obtained through the arc tangent algorithm has angle deviation, the calculated angle value is subjected to angle calibration, the measured value of the photoelectric encoder with 16-bit precision (0-65535) representing 0-360 degrees is taken as a reference, and the calculated measured value of the magnetoelectric encoder is corrected;
with magnetoelectric encoder, motor, photoelectric encoder coaxial arrangement on demarcating the revolving stage, driving motor is rotatory, with the angle value synchronous output that magnetoelectric encoder and photoelectric encoder measured, obtain magnetoelectric encoder and photoelectric encoder's angle deviation value, handle the deviation value of output through the mode of crossing interval linear interpolation, if count M to gatheringjWhen the corresponding deviation value is processed, M is firstly processedjFour adjacent acquisition points M on left sidej-1，Mj-2，Mj-3，Mj-4Calculating deviation mean value theta according to the deviation valuep1Then to MjFour acquisition points M adjacent to the rightj+1，Mj+2，Mj+3，Mj+4Calculating the error mean value theta of the corresponding deviation valuep2Using thetap1，θp2Linear interpolation of angle error of target pointDifference thetap0As shown in formula (8), all interpolation results are used as compensation values between the magnetoelectric encoder and the photoelectric encoder to prepare an angle compensation table, and the compensation values in the angle compensation table are searched and used as angle compensation values to correct the output result of the magnetoelectric encoder so as to improve the measurement accuracy of the magnetoelectric encoder;
the angle of the magnetoelectric encoder obtained by utilizing the inverse tangent calculation corresponds to 16-bit integer data, because the high 10-bit value is stable and the low 6-bit value fluctuates, the angle compensation table only comprises the deviation value corresponding to the acquisition point by using the high 10-bit value k (0-1023) of the angle value, the low 6-bit value b (0-63) is obtained by local subdivision, namely the high 10-bit value of the angle value is used for looking up the table to obtain an error correction value C (k), the low 6-bit value b (0-63) is used for carrying out average processing on the error correction value checked at the same high 10-bit position, the obtained average result is sequentially accumulated and then distributed to the corresponding low 6-bit value, and at the moment, the table is looked up and the subdivided to obtain the final correction value C of the angle error of the magnetoelectric encoderF(k) Can be written as formula (9):
the final magnetoelectric encoder angle measurement value thetaFThe actual angle theta of the angle to be measured is calculated by utilizing an inter-partition arc tangent table look-up algorithmTAnd obtaining final angle error correction value C based on cross-region average tabulation methodF(k) Is represented by formula (10):
θF＝θT+CF(k) (10)。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710838855.5A CN107607037B (en) | 2017-09-18 | 2017-09-18 | Magnetoelectric encoder calibration method based on arc tangent trans-interval tabulation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710838855.5A CN107607037B (en) | 2017-09-18 | 2017-09-18 | Magnetoelectric encoder calibration method based on arc tangent trans-interval tabulation method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107607037A CN107607037A (en) | 2018-01-19 |
| CN107607037B true CN107607037B (en) | 2020-05-19 |
Family
ID=61060726
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710838855.5A Active CN107607037B (en) | 2017-09-18 | 2017-09-18 | Magnetoelectric encoder calibration method based on arc tangent trans-interval tabulation method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107607037B (en) |
Families Citing this family (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108180933B (en) * | 2018-02-02 | 2023-07-25 | 哈尔滨理工大学 | Magneto-electric encoder self-correction method based on sensorless speed control of permanent magnet synchronous motor |
| CN108871181B (en) * | 2018-05-07 | 2020-11-10 | 哈尔滨理工大学 | Dynamic multi-window interval prediction angle subdivision method for multi-pair-electrode magnetoelectric encoder |
| CN108896074B (en) * | 2018-06-04 | 2020-11-03 | 哈尔滨理工大学 | Method and device for resolving high-resolution angle value of eight-Hall distributed magnetoelectric encoder |
| CN109059968B (en) * | 2018-07-02 | 2020-09-25 | 哈尔滨理工大学 | Limited angle value subdivision method and device based on angle value growth |
| CN109099938B (en) * | 2018-07-04 | 2020-11-24 | 哈尔滨理工大学 | Method and device for suppressing jumping points of angle value during angle interval scanning based on pole number table look-up |
| CN111043951A (en) * | 2018-10-15 | 2020-04-21 | 大银微系统股份有限公司 | Torsion sensing mechanism of rotating shaft |
| CN110793491A (en) * | 2019-11-25 | 2020-02-14 | 中国航空工业集团公司北京航空精密机械研究所 | High-precision absolute type external synchronization angle capturing device and method |
| CN110940371B (en) * | 2019-12-13 | 2020-08-21 | 浙江禾川科技股份有限公司 | Calibration method, device and equipment of rotary magnetoelectric encoder |
| CN111006696B (en) * | 2019-12-16 | 2022-05-24 | 浙江联宜电机有限公司 | Magnetic encoder and angle calculation method thereof |
| CN111044982B (en) * | 2019-12-23 | 2021-09-28 | 广东纳睿雷达科技股份有限公司 | Radar azimuth positioning method |
| CN111146986B (en) * | 2019-12-30 | 2022-08-12 | 深圳市越疆科技有限公司 | Position locating method and device of magnetic encoder, electronic equipment and computer readable storage medium |
| CN111854807A (en) * | 2020-05-15 | 2020-10-30 | 哈尔滨理工大学 | Domain angle magnetoelectric encoder and signal logic extension fine-dividing method thereof |
| CN111504360B (en) * | 2020-05-19 | 2022-07-05 | 哈尔滨理工大学 | Time coordinate-based magnetoelectric encoder angle precision division method and device |
| CN111578970B (en) * | 2020-05-21 | 2022-05-03 | 哈尔滨理工大学 | Angle precision division method and device for multi-pair-electrode magnetoelectric encoder based on nucleic acid sequence comparison idea |
| CN111693073B (en) * | 2020-06-28 | 2022-01-25 | 哈尔滨理工大学 | Bidirectional redundant magnetoelectric encoder and redundancy detection method thereof |
| CN111721329B (en) * | 2020-07-07 | 2021-11-23 | 哈尔滨理工大学 | three-Hall magnetoelectric encoder and arc-tangent-free calculation angle calculation method |
| CN111750903B (en) * | 2020-07-07 | 2022-02-01 | 哈尔滨理工大学 | Winding integrated magnetoelectric encoder and independent calibration method thereof |
| CN111811546B (en) * | 2020-07-26 | 2022-05-24 | 哈尔滨理工大学 | Electromagnetic encoder for generating magnetism by electrified coil and resolving method thereof |
| CN112067023A (en) * | 2020-07-26 | 2020-12-11 | 哈尔滨理工大学 | two-Hall magnetoelectric encoder and angle value temperature drift compensation method thereof |
| CN114440940B (en) * | 2022-03-17 | 2022-11-01 | 哈尔滨理工大学 | double-Hall magnetoelectric encoder angle estimation method and device based on special-shaped gear |
| CN114866669B (en) * | 2022-04-26 | 2024-06-07 | 杭州海康威视数字技术股份有限公司 | Video camera and voice coil motor driving method for video camera |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101876559A (en) * | 2009-04-30 | 2010-11-03 | 浙江关西电机有限公司 | Position detecting device and signal processing device and method thereof |
| CN102686979A (en) * | 2009-12-28 | 2012-09-19 | 法国欧陆汽车公司 | Method for determining the position of a magnetic element using linear hall-effect sensors and associated device |
| CN103837169A (en) * | 2014-02-28 | 2014-06-04 | 哈尔滨工业大学 | Self-correcting device and method for magneto-electricity encoder and magneto-electricity encoder |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101382286B1 (en) * | 2012-07-12 | 2014-04-08 | 기아자동차(주) | Method for calibrating offset of motor resolver |
-
2017
- 2017-09-18 CN CN201710838855.5A patent/CN107607037B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101876559A (en) * | 2009-04-30 | 2010-11-03 | 浙江关西电机有限公司 | Position detecting device and signal processing device and method thereof |
| CN102686979A (en) * | 2009-12-28 | 2012-09-19 | 法国欧陆汽车公司 | Method for determining the position of a magnetic element using linear hall-effect sensors and associated device |
| CN103837169A (en) * | 2014-02-28 | 2014-06-04 | 哈尔滨工业大学 | Self-correcting device and method for magneto-electricity encoder and magneto-electricity encoder |
Non-Patent Citations (1)
| Title |
|---|
| 绝对式多极磁电轴角编码器的设计;郝双晖等;《光学精密工程》;20100430;第18卷(第4期);第863-871页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107607037A (en) | 2018-01-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107607037B (en) | Magnetoelectric encoder calibration method based on arc tangent trans-interval tabulation method | |
| CN108896074B (en) | Method and device for resolving high-resolution angle value of eight-Hall distributed magnetoelectric encoder | |
| CN108180933B (en) | Magneto-electric encoder self-correction method based on sensorless speed control of permanent magnet synchronous motor | |
| US8368392B2 (en) | Magnetic encoder and method of detecting absolute rotational position | |
| CN109099938B (en) | Method and device for suppressing jumping points of angle value during angle interval scanning based on pole number table look-up | |
| CN109059968B (en) | Limited angle value subdivision method and device based on angle value growth | |
| CN108871181B (en) | Dynamic multi-window interval prediction angle subdivision method for multi-pair-electrode magnetoelectric encoder | |
| CN112067023A (en) | two-Hall magnetoelectric encoder and angle value temperature drift compensation method thereof | |
| CN107588793B (en) | Magnetic angle sensor calibration method based on discrete sine-cosine transform | |
| CN111721329A (en) | three-Hall magnetoelectric encoder and arc-tangent-free calculation angle calculation method | |
| CN113916265A (en) | Processing method of Hall position sensing signal for permanent magnet synchronous linear motor | |
| CN106208539A (en) | A kind of magneto-electric encoder | |
| CN111368584B (en) | High-resolution position information splicing method of sine and cosine encoder capable of self-correcting | |
| CN209043335U (en) | Encoder circuit | |
| CN112729100A (en) | Rotary variable angle sensor | |
| CN111578970B (en) | Angle precision division method and device for multi-pair-electrode magnetoelectric encoder based on nucleic acid sequence comparison idea | |
| CN117411247B (en) | Industrial servo motor and electrical equipment | |
| CN117040206B (en) | High-precision servo motor and electrical equipment | |
| CN109000685B (en) | Phase detection and compensation system and absolute encoder adopting same | |
| CN117007086B (en) | High-precision magnetoelectric encoder and method for detecting absolute angle of magnetoelectric encoder | |
| CN117040207B (en) | Large-diameter servo motor and electrical equipment | |
| CN116989828B (en) | Large-diameter magnetic ring encoder and detection method for absolute angle of magnetic ring encoder | |
| CN112556734B (en) | Moire fringe subdivision method for photoelectric encoder | |
| CN117411371A (en) | High-precision servo control system | |
| CN115589180A (en) | Orthogonal error compensation method based on sine and cosine position encoder |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20211014 Address after: 201108 No. 535, Shennan Road, Xinzhuang Industrial Zone, Minhang District, Shanghai Patentee after: Shanghai Frequency Control Technology Co.,Ltd. Address before: 150080 No. 52, Xuefu Road, Nangang District, Heilongjiang, Harbin Patentee before: HARBIN University OF SCIENCE AND TECHNOLOGY |
|
| TR01 | Transfer of patent right |